Geometric conditions for the existence of a rolling without twisting or slipping

DOI10.3934/CPAA.2014.13.435MaRDI QIDQ2391366zbMATH OpenOpenAlexFDO

Authors Mauricio Godoy Molina, Erlend Grong

Publication date 31 July 2013

Published in Communications on Pure and Applied Analysis (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1111.0752

zbMATH Keywords

geodesic curvaturesanti-developmentrolling map

Mathematics Subject Classification ID

Differential invariants (local theory), geometric objects (53A55) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Differential geometric aspects in kinematics (53A17)

Abstract: We give a complete answer to the question of when two curves in two different Riemannian manifolds can be seen as trajectories of rolling one manifold on the other without twisting or slipping. We show that up to technical hypotheses, a rolling along these curves exists if and only if the geodesic curvatures of each curve coincide. By using the anti-developments of the curves, which we claim can seen of as a generalization of the geodesic curvatures, we are able to extend the result to arbitrary absolutely continuous curves. For a manifold of constant sectional curvature rolling on itself, two such curves can only differ by an isometry. In the case of surfaces, we give conditions for when loops in the manifolds lift to loops in the configuration space of the rolling.

Recommendations

• The rolling problem: overview and challenges
• Symmetric spaces rolling on flat spaces
• Controllability of rolling without twisting or slipping in higher dimensions
• Introduction to the intrinsic rolling with indefinite metric
• Rolling maps in a Riemannian framework

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Cited in

(9)

• Blaschke’s rolling theorem in 𝑅ⁿ
• Conditions of slipless rolling for a wheel with a reinforced tire
• On the Controllability of the Rolling Problem onto the Hyperbolic $n$-space
• Non-slipping domains of a pulled spool
• Rolling with random slipping and twisting: a large deviation point of view
• Symmetries of the rolling model
• Rules for rolling as a rotation about the instantaneous point of contact
• Cartan ribbonization and a topological inspection
• Introduction to the intrinsic rolling with indefinite metric

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