Researchers at MIT have written two different papers that describe the idea of bakable robots. The robots are comprised of printable components that when heated, can involuntarily fold into a 3D configuration.
The first paper describes a system that generates 2D patterns based on the digital specifications of a 3D shape. These patterns would allow a piece of plastic to duplicate through self-folding. The other paper discusses how self-folding laser cut materials were used to build electrical components. The researchers presented different designs for a variety of components including resistors, inductors, sensors and actuators.