This paper presents a modular, multi-degree-of-freedom soft origami robot inspired by the locomotion of caterpillars. The robot is enabled by electrothermal actuation, using liquid crystal elastomer (LCE) and polyimide (PI) layers integrated with a serpentine-shaped silver nanowire heater. The Kresling origami structure, which is a nonrigid, cylindrical design, allows for bidirectional locomotion and steering through precise control of the actuation sequence. The robot consists of multiple Kresling units, each featuring active and passive components. Active units, equipped with electrothermal bimorph actuators, can deform in two modes: extension/contraction and bending. The passive units amplify the bending curvature, enhancing steering efficiency. The modular design allows for the assembly of different configurations, enabling versatile functions such as cargo pickup and steering. The robot demonstrates bidirectional crawling and omnidirectional steering, following trajectories with varying curvature radii. This work highlights the potential of modular, bioinspired soft robots for enhanced mobility and adaptability in complex environments.This paper presents a modular, multi-degree-of-freedom soft origami robot inspired by the locomotion of caterpillars. The robot is enabled by electrothermal actuation, using liquid crystal elastomer (LCE) and polyimide (PI) layers integrated with a serpentine-shaped silver nanowire heater. The Kresling origami structure, which is a nonrigid, cylindrical design, allows for bidirectional locomotion and steering through precise control of the actuation sequence. The robot consists of multiple Kresling units, each featuring active and passive components. Active units, equipped with electrothermal bimorph actuators, can deform in two modes: extension/contraction and bending. The passive units amplify the bending curvature, enhancing steering efficiency. The modular design allows for the assembly of different configurations, enabling versatile functions such as cargo pickup and steering. The robot demonstrates bidirectional crawling and omnidirectional steering, following trajectories with varying curvature radii. This work highlights the potential of modular, bioinspired soft robots for enhanced mobility and adaptability in complex environments.