Origami,　a　paper　folding　art,　has　inspired　engineering　applications　in　various　fields　for　decades.　It　provides　a　simple　approach　to　realize　the　transformation　between　simple　2D　composite　sheets　and　complex　3D　functional　structures.　By　integrating　the　origami　concept　with　smart　materials,　a　number　of　advanced　origami　robots　have　been　developed　with　self-deploying　and　programming　capacities　to　respond　to　external　environment　stimuli.　At　present,　miniaturized　origami　robots　have　demonstrated　advantages　in　many-profile　applications,　including　bio-inspired　robotics,　biomedical　engineering,　and　environment　monitoring.　However,　how　to　properly　drive　origami　robots　is　a　big　challenge.　In　this　paper,　the　investigation　and　analyses　of　the　previous　literature　focus　on　the　various　actuations　of　miniaturized　origami　robots,　including　the　magnetic,　light,　electric,　swelling,　motors,　thermal,　and　other　actuation　methods.　Finally,　the　article　investigates　applications　of　actuation　methods　for　miniaturized　origami　robots　with　various　functions,　and　discusses　the　challenges　and　opportunities　in　future　applications.