Low-loss optical coupling structures between photonic crystal waveguides and channel waveguides were investigated. It was emphasized that impedance matching of guided modes of those waveguides, as well as field-profile matching, was essential to achieving the low-loss optical coupling. We developed an impedance matching theory for Bloch waves, and applied it to designing the low-loss optical coupling structures. It was demonstrated that the optical coupling loss between a photonic crystal waveguide and a Si-channel waveguide was reduced to as low as 0.7 dB by introducing an interface structure for impedance matching between the two waveguides.