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Many plant materials in nature have the ability to change their shape to respond to external stimuli, such as humidity or moisture, to ensure their survival or safe seed release. A well-known example for this phenomenon is the pinecone, which is able to open its scales at low humidity due to the specific bilayer structures of the scale. Inspired by this, we developed a novel humidity-driven actuator based on paper. This was realized by the lamination of untreated paper made from eucalyptus fibers to a paper–carboxymethyl cellulose (CMC) composite. As observed, the hygroexpansion of the composite can be easily controlled by the amount of CMC in the impregnated paper sheet, which, thus, controls the morphologic deformation of the paper bilayer. For a more detailed understanding of these novel paper soft robots, we also studied the dynamic water vapor adsorption, polymer distribution and hygroexpansion of the paper–polymer composites. Finally, we applied a geometrically nonlinear finite element model to predict the bending behavior of paper bilayers and compared the results to experimental data. From this, we conclude that due to the complexity of structure of the paper composite, a universal prediction of the hygromorphic behavior is not a trivial matter. [ABSTRACT FROM AUTHOR]