- In this paper, we present a framework for studying folding problems from a motion planning perspective. Modeling foldable objects as tree-like multi-link objects allows us to apply motion planning techniques to folding problems. An important feature of this approach is that it not only allows us to study foldability questions, such as, can one object be folded (or unfolded) into another object, but also provides us with another tool for investigating the dynamic folding process itself. The framework proposed here has application to traditional motion planning areas such as automation and animation, and presents a novel approach for studying protein folding pathways. Preliminary experimental results with traditional paper crafts (e.g.. box folding) and small proteins (approximately 60 residues) are quite encouraging.