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Origami crawling robots, inspired by the principles of origami folding, have emerged as a promising approach for developing lightweight and flexible robots capable of navigating tight spaces. These robots utilize anisotropic friction, where the frictional forces between surfaces vary depending on the direction of motion, enabling controlled movement by changing the robot’s body orientation. While various actuation methods have been explored, such as pneumatic and magnetic systems, they suffer from limitations such as bulkiness or restricted workspace. In this paper, we propose a tendon-driven crawling robot that achieves anisotropic friction by controlling its out-of-plane curvature. By manipulating the robot’s shape and out-of-plane curvature, we can modulate the friction forces and enable efficient crawling motion. To maximize anisotropic friction, we design an asymmetric contact film composed of elastomer and polyester. We analyze the relationship between out-of-plane curvature and frictional force through experiments on flat and sloped surfaces, considering different leg angles and slope angles of the contact film. The results demonstrate the gait loss ratio of 1.96% for the optimized design, highlighting the robot’s ability to crawl efficiently with quick response times and a low-profile system. This research contributes to the advancement of origami-based crawling robots and their potential applications in confined and unstructured environments.