An intrinsic formulation of the problem on rolling manifolds (Q1935316)

The present paper presents an intrinsic formulation of the kinematic problem of two \(n\)-dimensional manifolds, one rolling on the other one without twisting or slipping. The authors compare the intrinsic point of view versus the extrinsic one. They also show that the kinematic system of an \(n\)-dimensional sphere rolling over \({\mathbb R}^n\) is controllable. In contrast with this, the authors show that in the case \(\text{SE}(3)\) rolling over \(\text{se}(3)\), the system is not controllable.