Rolling manifolds of different dimensions (Q499740)

This paper concerns the problem of rolling of two smooth connected complete oriented Riemannian manifolds \((M, g)\) and \((\hat{M}, \hat{g})\) of dimensions \(n\) and \(\hat{n}\) respectively and not necessarily equal. Two sets of constraints are usually considered, namely the rolling without spinning on the one hand and the rolling without spinning nor slipping on the other hand. The state space for both types of rolling models is a fiber bundle over \(M\times \hat{M}\) where the typical fiber consists of all partial isometries \(A:T_xM\rightarrow T_{\hat{x}}\hat{M}\), orientation preserving, if applicable.