Robot morphology, its form, shape, and structure is typically designed to serve social and utilitarian purposes. Considering the increasingly social roles of robots in society, we propose that through their form and shape, robot morphologies have visual affordances that facilitate interaction by conveying relevant information about robotic states and movement potential. While dynamic movements can help to elucidate aspects of robotic movement such as speed, range, and even intended future trajectories, the shape and material of the robot are additional means of expression. This chapter explores the visual affordances of origami in expressing robotic movement contingencies, the underlying premise being that folding patterns are interpreted through people’s tacit knowledge of the world. Origami techniques are widely used in robotics for their utilitarian movement capabilities, e.g., crawling, self-folding, or pop-up robots. We propose to extend this research by investigating the expressive and communicative qualities of origami, which is particularly relevant in settings where people and robots collaborate. This chapter focuses on expressions of three common types of origami used in robotics: Kresling, Twisted Tower, and Yoshimura. For each, we explore their expressive qualities in communicating the potential for elongation, rotation, and bending movements. The contributions include the results of a visual analysis and a working design vocabulary for using origami for robotic intention visualization.