With the increased development of space programs globally, more space probes are being funded for sample-return missions. Versatility and power limitations are some of the critical issues that these extraterrestrial sampling rovers are seeking to overcome in order to reliably deploy autonomously. Exploring the rough and unpredictable surfaces of other celestial bodies requires more adaptable and energy efficient robotics, which is what makes bio-inspired origami structures so appealing. Leaf-like origami is reconfigurable, which means that it can walk, jump, grasp, and actuate other useful motions all within the same device. Typical robots have redundant actuators and structural systems, but origami devices can build up potential energy before converting it into a mechanical motion. Due to this, rigid origami design approaches have the potential to be more compact, versatile, and energy efficient than conventional devices. Studying reconfigurable origami-based robotics can lead to devices that can be transformed into multiple configurations for various tasks. To design a versatile origami-based structure, I followed up on the research that Professor Jinkyu Yang and the members of his research group had on leaf-like origami, specifically leaf-out origami. This origami structure shows multi-transformable features. This means that the structure can be configured in a stable-stored or stable-deployed shape without having an external power supply maintaining its configuration. By finalizing the design, fabrication method, and discovering the optimized folding patterns for jumping and grasping motions, we will be able to start implementing the structure into more complex systems. Designing more structurally efficient systems may be the most practical solution we currently have to combat power and versatility limitations for autonomous space probes.