A form generation method of rigid origami with cutting lines is proposed. A Bézier surface is approximated by the rigid origami whose faces have three or more edges. Three types of approximation errors are defined with respect to the distance between the origami vertices and the target surface, the surface area difference, and the normal vector difference between the origami faces and the target surface. The weighted sum of approximation errors is minimized under the constraints on the developability of the rigid origami. Numerical examples of the HP and dome surfaces with different cutting patterns are shown.
