Matrix G-strands

We discuss three examples in which one may extend integrable Euler–Poincaré ordinary differential equations to integrable Euler–Poincaré partial differential equations in the matrix G-Strand context. After describing matrix G-Strand examples for SO(3) and SO(4) we turn our attention to SE(3) where the matrix G-Strand equations recover the exact rod theory in the convective representation. We then find a zero curvature representation of these equations and establish the conditions under which they are completely integrable. Thus, the G-Strand equations turn out to be a rich source of integrable systems. The treatment is meant to be expository and most concepts are explained in examples in the language of vectors in $\mathbb{R}^3$.