In an aspect, a Kirigami motif includes a substrate including a plane. The Kirigami motif includes inner panels defined by geometric cuts disposed through the substrate. The geometric cuts include fixed geometric parameters. The substrate is configured for controlled actuation in-plane, with respect to the plane, to control out-of-plane deformation of the inner panels.

The present disclosure provides techniques for automated tool path planning for machining complex workpieces. Other aspects including related systems are also provided. An example method includes obtaining an indication of one or more parameters associated with the workpiece. A down and out (DnO) tool path plan for machining the workpiece is determined. A material removal component is selected for machining the workpiece, based on the one or more parameters and the DnO tool path plan. Extraneous material is removed from the workpiece according to the DnO tool path plan with the selected material removal component.