Rolling Stiefel manifolds

In this article, rolling maps for real Stiefel manifolds are studied. Real Stiefel manifolds being the set of all orthonormal k-frames of an n-dimensional real Euclidean space are compact manifolds. They are considered here as rigid bodies embedded in a suitable Euclidean space such that the corresponding Euclidean group acts on the rigid body by rotations and translations in the usual way. We derive the kinematic equations describing this rolling motion.

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