For people looking at more of the mathematical side of how origamis are shaped and built, I recommend a wonderful book by Robert Lang: "Twists, Tilings, and Tessellations: Mathematical Methods for Geometric Origami"
This really covers a lot of ground on computational origami.
There were open source firmwares for a popular brand that lasted a few years but the company discontinued the hardware in favor these more disposable ones with crap batteries.