Step 1:
I used a green Post It paper for this bug, the sticky
part is on top in this picture.

Mountain-fold in half.

Step 2:
The arrow shows the sticky part.
Valley-fold over this line.

Step 4:
Turn the model

Step 3:
Valley-fold over this line.

Step 5:
Valley-fold over these 2 lines

Step 6:
Valley-fold over these 2 lines.

Step 7:
Valley-fold over this line.
The corner indicated by the arrow is pulled upwards.

Step 8:
Continue finishing the fold of step 7 and
press the spot indicated by the large arrow flat.

Step 9:
Repeat steps 7 and 8 on the edges
indicated by the 3 pink arrows.

Step 10:
Valley-fold over these 2 lines.

Step 11:
Valley-fold over these 2 lines.

Step 12:
Valley-fold the model in half.

Step 13:
Now the model looks like this.

Step 14:
Squash-fold the head, see pink arrow.

Step 15:
Pull the tip outwards by making an inside reverse fold
over these 3 lines (=mountain-fold over the line in the
middle and a valley-fold over the 2 outer lines).

Step 16:
Press the leg flat between 2 fingers, do the same
on the other 3 legs.

Done!

This video also has instructions for the sticky bug: