Petr Kadleček

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I'm a Ph.D. candidate of Computer Science (Computer Graphics and Image Analysis)
supervised by Ladislav Kavan and co-supervised by Jaroslav Křivánek.

I work in Computer Graphics Group at Faculty of Mathematics and Physics, Charles University in Prague.

Curriculum Vitae (CV)

Research Areas

(Anatomically-inspired) Physics-Based Modeling and Simulation
Haptic Rendering


I'm currently visiting Univeristy of Utah.

My current contact information:

Graphics Lab, MEB 3335, Merrill Engineering Building, 3rd floor.
School of Computing, 50 S. Central Campus Drive
University of Utah, Salt Lake City, UT 84112-9205


E-mail:  kadlecek (at)
Phone:  +420 221 914 321
Office:  Office 126 (Carolina Lab)
Address:  KSVI MFF UK, Malostranske Namesti 25, 118 00 Praha 1, Czech Republic


Reconstructing Personalized Anatomical Models for Physics-based Body Animation

Reconstructing Personalized Anatomical Models for Physics-based Body Animation

ACM Transactions on Graphics (Proceedings of SIGGRAPH Asia), 2016

Please visit a paper page

Haptic rendering for under-actuated 6/3-DOF haptic devices

Proceedings of the EuroHaptics 2014, Versailles, June 2014

Please visit a paper page

Haptic rendering for under-actuated 6/3-DOF haptic devices

Abstract: Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6-DOF haptic rendering algorithm and tested on an under-actuated haptic device in a user study. We found that by applying our torque simulation system, the torque perception increases significantly and that 6/3-DOF devices can be used in complex tasks involving 6-DOF interactions.

Haptic rendering for 6/3-DOF haptic devices

Master Thesis (2013)

Download: kadlecek_petr_master_thesis.pdf

Haptic Rendering pipeline

Abstract: Application of haptic devices expanded to fields like virtual manufacturing, virtual assembly or medical simulations. Advances in development of haptic devices have resulted in a wide distribution of assymetric 6/3-DOF haptic devices. However, current haptic rendering algorithms work correctly only for symmetric devices. This thesis analyzes 3-DOF and 6-DOF haptic rendering algorithms and proposes an algorithm for 6/3-DOF haptic rendering involving pseudo-haptics. The 6/3-DOF haptic rendering algorithm is implemented based on the previous analysis and tested in a user study.

Overview of current developments in haptic APIs

Proceedings of CESCG 2011

Download: PragueCUNI-Kadlecek-Petr.pdf

API layers

Abstract: Haptic technology as a key part of human-computer interaction allows us to use sense of touch in virtual reality by kinesthetic feel using force feedback. Increased production of haptic devices in recent years supported the development of many tools and libraries for programming applications with support of haptics. This paper introduces haptic technology and focuses on comparison of haptic application programming interfaces, especially on open-source and cross-platform solutions. We present different types of abstraction layers used in haptic APIs, basic haptic rendering methods and effects as well as a general overview of design concepts used in selected APIs. CHAI 3D haptic library is analyzed in more detail.

A Practical Survey of Haptic APIs

Bachelor Thesis (2010)

Download: kadlecek_petr_bachelor_thesis.pdf

Project page: Haptic API suite

About thesis: Haptic API survey

Haptic API suite

Abstract: Haptic devices have a great potential in medical fields, engineering and help for visually impaired people. Massive distribution and support have made it possible to create many tools and libraries for programming applications with support of haptics. This thesis presents and analyzes APIs for haptic programming which mostly support a Novint Falcon device. A part of the thesis is a set of testing applications illustrating a basic use of these APIs. The survey then focuses on a CHAI 3D API. Larger demonstrating application is created and a libnifalcon cross-platform driver is implemented to the CHAI 3D.


Stubble - virtual hairstyling plug-in for Autodesk Maya

Software Project (team of 8 students)

Project info at (in Czech)

Stubble haptic

Stubble is a software providing user-friendly virtual hairstyling, i.e., creating, editing and animating virtual hair or fur. It aims for low disk space consumption on render time and wide user control over the output; all while maintaining simplicity of the user interface and providing real-life like tools for editing hair, e.g., brush and scissors. Besides using mouse for hairstyling, tablet or haptic device can also be used.

We've released the source code for Stubble project on GitHub!.


Adaptive Simulation of Large-Scale Ocean Surfaces

Filip Krijt

Master Thesis

Abstract: Physically-driven methods of simulating fluid dynamics and frequency-based ocean surface synthesis methods are of long-standing interest for the field of computer graphics. However, they have been historically used separately or without any interaction between them. This thesis focuses on the possibility of combining the approaches into one adaptive solution by proposing methods for unified surface representation, method result blending and one-way interaction between the methods. The thesis also outlines several future developments of the combined method and proposes a level-of-detail approach taking advantage of hardware tessellation that can be used regardless of what method was used for the simulation.