Biohybrid robots can achieve different modes of motion through selective activation of living tissues, with a structural basis comprising mechanical skeleton that possesses multidirectional deformation capability. This research established a biohybrid robot with different motion modes based on a flexible deformable mechanism characterized by Yoshimura origami structure. By selectively stimulating the muscle tissue to induce local contraction, our robot was capable of executing movements such as forward movement (289.8 μm/s), turning (4.95°/s). Dual-modal biohybrid robot proposed in this study was expected to broaden its application prospects in extreme environments such as confined and narrow spaces.