Origami,　derived　from　the　Japanese　words　‘ori’　meaning　fold　and　‘kami　(gami)’　meaning　paper,　has　found　extensive　engineering　applications　in　modern　days.　In　the　last　decade,　an　emerging　venue　lies　in　robotics,　where　origami　is　taken　as　an　exoskeleton　of　a　robot　to　generate　desired　behaviours.　The　motions　of　origami　are　often　coupled　through　in-built　folds,　leading　to　lower　or　more　controllable　degrees　of　freedom　(DoFs)　while　still　exhibiting　shape-changing　properties　akin　to　those　of　soft　materials.　This　unique　feature　enhances　the　compliance　of　robots　without　compromising　their　controllability.　The　prevalent　use　of　zero-thickness　sheets　makes　origami　robots　prone　to　fatigue,　necessitating　the　incorporation　of　origami　made　from　durable　thick　materials.　Whilst　substantial　attempts　have　been　made　in　the　field　of　thick-panel　origami,　the　concept　was　originally　conceived　for　space　solar　panels.　Hence,　existing　research　predominantly　focuses　on　properties　such　as　flat　foldability　and　kinematic　equivalence.　Consequently,　many　designs　also　end　up　with　rigid　panels　of　non-uniform　thicknesses,　complicating　the　fabrication　process.　As　a　result,　roboticists,　who　are　interested　in　shape-changing　origami　as　well　as　its　fabrication　and　control　simplicity,　often　find　it　challenging　to　directly　implement　those　thick　panels　in　the　robotic　design.　This　work　addresses　these　research　gaps　by　introducing　the　first　systematic　approach　to　designing　uniform-thickness　origami　capable　of　shape-changing,　referred　to　as　morphing　surfaces.　Such　surfaces　are　enabled　by　a　comprehensive　mapping　between　thick-panel　origami　and　spatial　overconstrained　linkages,　followed　by　various　tessellation　methods.　Bending,　expanding,　twisting,　and　complex　motion　behaviours　will　be　realised　on　the　proposed　surfaces,　all　with　a　single　DoF.　The　surfaces　are　thus　readily　applicable　in　robotics　for　targeted　functions.　©　2025　The　Author(s)