We present Miura-Bot, an open-source modular origami robot design that leverages actuated multimodal origami structures for diverse task-oriented scenarios. Miura-Bot uses the Miura-Ori tessellation pattern for self-contained actuated locomotion and folding through coupled rigid panels. The design includes a 3D-printable parallelogram-shaped mechanical chassis and electronics modules for onboard computing, sensing, and actuating. Our experimental results demonstrate the locomotion of individual parallelogram robots and self-folding capability of one assembled unit of the Miura-Ori pattern made of four parallelogram robots. Future work will focus on algorithmic self-assembly, self-coupling capability, and experimental results on the form and function of various assembly patterns.