The Johns Hopkins University Press

Minimal Hypersurfaces in a Riemannian Manifold of Constant Curvature
Author(s): Tominosuke Otsuki

Source: American Journal of Mathematics, Vol. 92, No. 1 (Jan., 1970), pp. 145-173
Published by: The Johns Hopkins University Press
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MINIMAL HYPERSURFACES IN A RIEMANNIAN MANIFOLD
OF CONSTANT CURVATURE.
By TOMINOSUKEOTSUKIe*
S. S. Chern,M. do Carmo and S. Kobayashi provedin [2], Corollary

of Theorem1 and Theorem2, that if M is a compactn-dimensionalmanifold
minimallyimmersedin an (n + p) -dimensionalspace N of constantcurva-
ture c and its norm IIA 11of the systemof secondfundamentalformsof M
in N satisfies}A
Aj22 nc/(2-- 1), then A = O or IIA I12snc/(2--) and
p p
if N-=S S, (n+1)-dimensional unit sphere,and IIA 112 n, then M is
locally a Riemanniandirectproductof spaces V7 and V2 of constantcurva-
tures - and n dim = 1 and dimV2 =n-m
Mr n-mn respectively, V1 m> ?1.
In the latterpart of this statement,the secondfundamentalformA has two
eigenvaluesof multiplicitiesdimVI and dimV2. The main purposeof the
present paper is to investigatethe converseproblemfor minimal hyper-
surfacesin Sn+1.
The authorwill prove a local theoremon the integrabilityof the dis-
tributionsof the spacesof principalvectorsof a hypersurface
in a Riemannian
manifoldof constantcurvature(Theorem 2). Making use of it, he will
investigateminimal hypersurfaces such that the multiplicitiesof principal
curvaturesare constant.
He will provethat if the numberof principalcurvaturesis two and the
multiplicitiesof them are at least two for a minimal hypersurface of this
kind in Sn+', then it is
S m MX
) Sn-Mf( Vn-m)
or its subdomain (Theorem 3). And for the case in which one of the two
principalcurvaturesis simple,thenwe have infinitely
manyimmersedminimal
hlypersurfaces
otherthan
11
ln-1 1,
Received January 27, 1969.

* Work done under partial
support from NSF grant GP-8623.
145
10

146 TOMINOSUKE OTSUKI.
whichare not congruentto each otherin Snl (see Theorems4, 5 and Remark
followingTheorem5 fordetails). An interesting unsolvedproblemis whether
any of them,otherthan the above one, is imbedded(i. e., withoutself-inter-
sections). This problemdependscompletelyon the analysisof the solutions
of an ordinarydifferentialequation of order two (see Appendix), but the
authorhas not been able to draw a definiteconclusionregardingthis point.
The authorwishesto expresshis appreciationto ProfessorS. S. Chern
who gave him a motivationto considerthis problemand ProfessorT. Kato
who gave him good advice about treatmentof the periodsof the solutionsof
this differential
equation.
1. Minimal submanifoldsof M-index- 1 in a Riemannian manifold
of constant curvature. Let M be an (n + p) -dimensionalRiemannian
manifoldand M be an n-dimensionalimmersedsubmanifoldin M by the
immersionqi: Me-> M. Let F (M) and F (M) be the orthonormalframe
bundlesover M and M. Let
{A, A-1, 2,. . *,n + p} and {t(AB, A, B - , 2y.,* . n+p}
be the canonical 1-formsand the connection1-formson F'(M) for M. Let

B be the set of frames
b= (x,e *,e, +p)
such that (x, e1, *,) C F(M) and
(+ (x) , +*el, * * q*,

+ee, e,+,.,*E , p F(M)
B becomesnaturallya differentiable manifoldand 7r:B ->M is consideredas

a principalbundleoverM1withthe group Gl(n,R) X Gl(p,R) and B-> F(M)
is also consideredas a principalbundle over F (M) with the group GI(p, B)
in a naturalway.
Let A: B-> F(A) be the mappingoveri: M3-> M withthe same nota-
tion definedby
.
+l(x, e1,* *,,ep) (if'(x), q*el, * P*,*elnen+ . .. *, e+p)
and put
=A I*jiA, DAB ifZIAB.
Since w,o O (a > n), we can put
(1.1) oia= A
Soipj, Aajj = Aaji.

MINIMAL HYPERSURFACES. 147
Now for any x C M, we denotethe normalspace to * (M0,) in 1,() by

Ne,. Then, we definea linear mappingmn:N, -1 by
(1. 2) YeatOea) ==1YE

m~~n( a trace( (A,,,j))
a na
and for b C B, -r(b) x C M, definea linear mapping4pbfromN,, into the
space of all n X n symmetricmatricesby
(1.3) tI(E
aa
aea) ((EaA Yj).
Then, we call dim(fb(kerim)) M-indexof M in M at x.1
THEOREM1. Let M be an n-dimensional minimalsubmanifoldimmersed
in an (n + p) -dimensional
Riemannian manifold M of constantcurvature
withM-index1 everywhere.Then thereexistsan (n + 1)-dimensionaltotally
geodesicsubmanifoldof M containingM as a minimalhypersurface.
Proof. From the assumption,we restrictthe considerationon the subset
B1 of B such that
(1. 4) Oh)n+i "Aij(Rjp Wj,o O (/3 > n + )

i
Then, fromthe structureequationsof if

n+p
A
dWAB = E AGaB-COB A AOB
C=1
wherec is the constantof curvatureof M, and w = 0 (a > n), we get on B1

0 do)j,i o
ij A t>j,6+ Wi)n+j
A o)n+1,6 ojn+1A,w,,,:Lfi
j
Since M is minimaland M-index=1, we have
XAii O, rankA >2
whereA ((Aij)). Therefore,fromthe above Pfaffequationswe get
(1.5) W1,B=0 (18>n +?1) on B1.

Now we considerthe followingPfaffequationson F (M)
con=O, @p O, %+ip ?
(1.6)
1 ,n, n+2, n+p.
1 See [4].

Denotingthe set of 1-formsof the lefthand sides of (1. 6) by (*), fromthe

structureequationsof M we get
do- , A i+ - A - +,6 + E At= O (mod(*)),

,y>n+l y
dii z A jR)j,B
6R)ij + A
)wn+
A 1n+ + E gp A (o,y,6
j ,y>n+l
-jO,A O (mod(*)),
0),n+1, (3f+ijAi;,6+ E Awv,Y'- jn+l AZ,i
-n+,,y O
0 (mod( ))
i ty>n+l
hence (1. 6) is completelyintegrable. B1 satisfies(1. 6). About any point

b of Bl, we considerthe integralsubmanifoldQ (b) of the maximaldimension
of the Pfaffequations (1. 6) throughb. Q (b) containsthe part of B1 about
b and 7r(Q(b)) is clearlytotallygeodesic (n + 1)-dimensionalsubmanifold
ML of M abo-ut-r(b), in whichM is minimal. Througheach point +f(x),
thereexistsone piece of this submanifold.Thereforethereexistsan (n + 1) -
dimensionalgeodesic submanifoldimmersedin M which contains M as a
minimalhypersurface. Q. E. D.
By meansof this theorem,it is sufficient to considerthe case p = 1 for
the minimal submanifoldsin a Riemannianmanifoldof constantcurvature
which satisfiesthe conditionsstated in the theorem.
2. Integrabilityof the distributionof the space of principal vectors.

In this section,we will provefirstlythe following:
THEOREm 2. Let M be a hypersurface immersedirnan (n + 1)-dimen-

sional RiemannianmanifoldX of constantcurvaturesuch that the multi-
plicities of principal curvaturesare all constant. Then the distributiorn
of
the space of principal vectorscorrespondingto each principal curvatureis
completelyintegrable.
Proof. Using the same notationsas in ? 1, we may choose the set of

framesb - (x, e1,. , e,,e+1) E B such that
(2.1I) Xiwip
Uin+1=z 1,2,* . . n
by the assumption,whereX, are principalcurvatures. Hence we have
. dA,A wi +
dwjin+j.-d)ti A wi + Aidw, A4
wj A wji.
On the otherhand we have on the curvatureformsof M
(2. 2) Qin+i czi A(on+, O on M.

Substituting(2. 1) and (2.2) into
dw+?*1 = )j A .ow+l +? -n+ii
we get
(2.3) dA4A + (A-kj) jA j 0.
Putting
(2.4) 9= ( -\j)o)j W=Oi,
(2. 3) can be writtenas
. (0j + ijdXj) A =0.
By E. Cartan's lemma,we get

(2. 5) aij+ jjdkj = =ckBijkWk,
whereBijk are uniquelydeterminedfunctionssuch that

(2.6) Bijk=Bikj.
By means of (2.4), (2. 5) and (2. 6), Bijk withrespectto i, j

are symmetric
and 7k,i. e.,
(2. 7 ) Bjjk-Bj1k = Bikj - Bkji
On the otherhand, we have Oj =0 if a =-A, hence

(2. 8) Bijk 0if ij anda, -.
Now, using the notations[i] - {j I X1 -a}, we get fromthe equations
of structureand (1. 4)
dwi wjA *jj o)jA wj,+ Ei

A
Oj
j E
([fl i7[] lkC A4-
in which substituting(1. 5) and using the properties(2. 7) and (2.8) of

Bijk we get
dw 'Y wjA(tq > I BftpjA WI

j c [i] j XE] X-a
(2.9)
+ BJJ xA
wk.
Se4 X1-X
N; t th], it i
Noticingthat the termsin the braces of the righthand side are all zero in

mod{,wj, j C [i] } and Wjand wk of the termsin the thirdE belongto different
classes of indices,we easily see that the systemof Pfaffequationsfor fixedi
(2. 10) 'Wj 0 (j E[i])

is completelyintegrable,since
dw - (MOd{k, kE q]
Since the systemof Pfaffequations (2. 10) givesthe distribution
of the space
of principalvectorscorresponding to the principal curvaturefield a' of M
in M, the distribution
of the space of principalvectorscorresponding to each
principalcurvatureis completelyintegrable. Q. E. D.
COROLLARY.In Theorem2, if the multiplicityof a prirncipal curvature
is greaterthan 1, then this principal curvatureis constanton each integral
submanifoldof thecorresponding of thespace of principalvectors.
distributioon
Proof. Using the notationsin the proofof Theorem2, we supposethe
multiplicityof A,> 1. Then, by means of (2. 7) and (2. 8) we have
(2. 11) dA= Biii + E Bkk
kEL[t]
and forany j E [i], j z i, we have also
=
dAX =Aj Bjjj + E Bjjkwk
kE [jr]=[t]
Hence, we have
(2.12) Bjj== O,B BjjkB, j E [i], [i]
Therefore,along the integralsubmanifoldcorresponding

to the field AX,we
have d&=A0. Q.E.D.
3. Minimal hypersurfaceswith two principal curvatures in a Rie-

mannian manifold of constant curvature. Let. us considerthe case in
Theorem2 that the numberof principalcurvaturesof M in M is two and
M is minimal in M.
Using the notationsin ? 2, we may put

(3. 1) Al A2 = Xn m
Since M is minimal,we have

(3. 2) M + (n m)'U_

and we may suppose A > 0. By Theorem2, let.us denotethe integralsub-

manifoldthroughx C M corresponding
to X and p,by Mll (x) and M 2n-nz(x)
respectively.
Now, putting
dX= Y:XA,kjk, d== , kw,
,k
by meansof Corollaryof Theorem2, we have

(3.3) X,1 * *=X-, =O, if m>s2
and
(3.4) .=+ - =-- 0,, if n- m>2.

Case 2?m< ?n-2.
In this case, X and p mustbe constantson 11 by (3. 2), (3. 3) and (3. 4).
Hence we have
(3.5) Baak Brrk= O, a?< m <r, k =1, 2,* - ,n

By means of (2.7) and (2.8) and (3.5), we have
Oar = z Bark0k- Barawa + Barrwr 0= ,

accordingly
(3. 6) foar:= O == 0
-ar
A-IA
Hence we have
(3. 7) dwab - w"acA/\b + an+j A wn+b -Oa A ?b

a?m
= E wacA'web- (X2?+ > ) aAA cb
c?m
and analogously
(3. 8) dwrt= qAW9t-(2_ C wr

Awt.
S>m
(3. 7) and (3. 8) showthat M1m(x) and M2n-(x) are of constant
curvatures
(A2+? ) and (m2?)
+ respectively.
We get from (3. 6) and the equationsof structure
0 = dwaor
= (a A
/ r + <)an+,A wn),.r-G& A Cor

hence ,= -c, which followswith (3. 2) that
(3.9) >n-m _.
Thus, this case can be consideredonlyfor if of positivecurvature. Therefore

we may supposec 1 and A Sn+1,the unit hypersphere
= - in And we pzn2.
may considerthe frame b = (x, e1, e.+1) in R1n+2and x = e2.

, Then
we have
dea = (abeb + wan*lenl + (Oan+2Cn+2
b?m
= . (O.abeb+ (Xen+1-e+2)
bC?m
der= Y *-rtet+ (Ite+1l- e+2)or.

t>m
We have also
d(e +2- Xe,+l) = E.mwiei- A E.,+aet = ( + A2)E waew
* i a'<m
since Xs -1, and analogously

d(e.+2 -Ae.+l) = (1+ 2) E
r>m
Orer
Hence we have
d(el A A emA (e.+2-Aen+,) )
and
d (em+l iA- A en A (e.+2-e+,) O.
These show that M1?m (x) and M2n-"n (x) lie in the intersectionsof SI1
and (mn+ 1) and (n - m + 1) -dimensionallinear subspacesElm+1(x) and
E2B-m+1(x) respectively and that these E1BmI(x) and EB2nm+1() are parallel
to fixedE1m+1 and E2n-m+lrespectivelyand Elm+1 I E2nP-m+1.
Theseintersections
are rn-dimensional
spheresof curvature
X2 + 1=
and (n-rn)-dimensional spheresof cnrvaturej2+? 1 Hence M

is locally a Riemannianproduct:
If we denotethe normof the secondfnndamentalformof M in Mtby 11A ,

then we have
(3.10) IA II2-rn2?(n-rn)mh2= (n m) +mrn=n.

If we suppose that M is a closed hypersurface

imbeddedin if, then
M=Sm(Jm) XSn-m(xnJm).
Thus, we get the following:

THEOREM 3. If M is an n-dimensionalminirmal immersed
hypersuirface
in a Riemannian manifold M of constantcurvaturea with two principal
curvaturesand the dimensionsm and n- m of thespaces of principalvectors
correspondingto themare greaterthan 1, then
(i) a is positiveand M is locallyRiemrannianproductof two spheres
of dimensions m and n - m,
(ii) furthermore, if M is closed and imbeddedin Si',
M then
M Sm( \f) XSn-m( n-m)
COROLLARY. A minimal hypersurface imbeddedin S,' (n 4) with

two principalcurvaturesof multiplicities?2 is congruentto
Sm( $'n) X Sn m( nm) c Sn+
in Rn2.
Case m==n-1, m>- 2.

In this case, we may considerlocally A is a functionof a parameterv,
for examplethe arc lengthof an orthogonaltrajectoryof the familyof the
integralsubmanifoldscorresponding to X. Then we have
dA = dAa = a Baab'O)b
+ BoaanW= n(On
'b--n-1
Baab=O, a, b < n 1 Baatn=X,n;
d,u_dxn-= Bnnawa+ Bnnnn =,nn
a-<n-1
Bn,na-~OnB,nnhtut(n -1)),n-
By means of these and (2. 7) and (2. 8), we have
Oam X Bankwk Bana(Oa+ Bamnon X,nO0a,

k
hence
Oan ,t An
(Oan O-a Wa.
X-, XA-,u nA

Therefore, we have dw. = Aoan 0, which shows that we may put

a
(3.11) dv.
Then we have
(3.12) Wan (logXl/n)'Wa,
wherethe primedenotesthe derivativewithrespectto v. (3..12) showsthat

to A and v is umbilical in
the integralsubmanifoldMn-1(v) corresponding
M and M. Substitutingthese into
dwan- Y(")ab A O)bn + 'Wan+1 - Cwa A

A Wn+i1ji
b
we have
dwan (log l/nI)"dv A 'Wa+ (log x1In)' dwa

=
(logAAln)"dV
= Awa + (log J/1I)' A wj,a
z (Rwj
{-(logXI) n)-I- ( (log X'/I) ) 2}wa A dv

I
t(log A1/n) -ab A eb
b
Y(9a,b A (Obn+ Wan+1 A n+ln - Cwa A wn

b
(log X1'n)' . (wabA )b -Awa A dv - Cwa A dv,
b
hence
(3.(313)
13) ~(lOgk1/nf)" 2 + (n
((log J/nf)1) (-)X- )2 c =O 0
that is
d21\ m? 1 dA
(3. 13') dv2 nA (dv)+n2 (-
nX{n_1)2 A2c O
Putting w-A-c'in (3. 13') can be replaced by
(3. 14) d2w ( W c)
equationof order2, we get

Integratingthis differential
1 +
(3.15) (dw )2?+ 2 w2= C,
whereC, is the integralconstant. Hence, we have the differentsituationin
this case comparedwith the case 2 ? m
__ n -2. That is, we have many
minimalhypersurfaces in iM corresponding to the values of constantC,..
In the following, we suppose a = 1 and M = Sn+1C R@+2. As in the

previouscase, we may considerthe frame b = (x, el, *, e1) in Rn2 and

x e,+2. Then, by,(3.2), (3.11), (3.12) and (3.13) we have
-
dea E (Oabeb + )anen + W)an+len+i O)aen+2
b
Ia-be-b+ { (log /n)'en + Xen+l-

en+2}- a
b
? e.+1- e+2}
d{ (logV'In)'e. +
{ (log X/I")"e. + X'en+}dv
+ (log Xl/h)'( YOWnaea +
+ wn+1en+1
?+2e,+2)
? A.( z O)n+laea + -wn+lne+e) - aea -cnen
a a
{(log Al/'A)+ (n I) A2 _}*_,e
+ {X'- (n -
I)A(log X lb)'}wnenl+- (1ogXi'/)'noe,+2
(mod el,e2, , e-1)
(log Al/n)'{ (log Xlbn)"en + Xen+1- n+2}dv,
hence putting
(3. 16) W el A e2 A. . *A e- A { (logkl-/")'e, + ke+- e>2b
we get
(3. 17) dW (log kl/')'Wdv.
(3. 17) shows that n-vectorW in B,+2 is constantalong Mn1(v). Hence

there exists an n-dimensionallinear subspace En(v) in RW+2containing
Mn- (v). By (3. 17), the n-vectorfield W dependsonly on v and by.inte-
gratingit we get
W (v) = {X (v) /X (VO) }1/nW (V'O).
Hence we have En.(v) 11En(v) in Rn+2.

Since the curvatureof Mn-i(V) is given by
d(wab - bac A W(cb wan A (nb +,Wan+, A (wm+ib - wa A Wb
-- { ( (log X'/n))')2
2+ A2 + 1}Wa Awb,
tho centerof the (n--1),sphere SW-I(v) =En(v) nsf+l is given by
(3. 18) q x + (log X1/n)'eX + Ae+1 - e+2
and lies in a fixedplane E2 throughthe origin of Rn+2and orthogonalto

En (v,). Therefore the point q = q (v) makes a plane curve in E2. In con-
cludingthis case, we have

156 TOMINOSUKE
OTSUKI.
THEOREm 4. If M is an n-dimensionalminimalhypersurface (n?3)

immersedin a Riemannian manifoldX of constantcurvaturec with two
principalcurvaturesand the space of principalvectorscorrespondingto one
of themis of one dimension,then
(i) M is a locus of moving (n-1)-dimensional submanifoldMn-1(v)

along whichthe principalcurvatureX of multiplicityn-1 is constantand
whichis umbilicalin ft and of constantcurvature(d(log Xl')/dv) 2 + X2+ ,
wherev is the arc lengthof an orthogonaltrajectoryof the familyMn-1(v),
and X= X(v) satisfiesthe ordinarydifferential equation (3. 13') of order2.
(ii) If ft =S*1 C Rn+2, IMIn-1(v)is containedin an (n-1)-sphere
Sn- (v) - En(v) n SnI of theintersection
- of Sn+1and an n-dimensional linear
subspaceE"(v) in Rn+2 whichare parallel to a fixedEn. And the centerq
givenby (3.18) of Sn-I(V) moveson a plane curvein a planeE2 through
the originof Rn+2 and orthogonalto En.
COROLLARY. In an. (n + 1)-dimensionalRiemannianmanifoldof con-

stant curvature,thereare infinitelymany minimalhypersurfaces
such as in
the Theoremwhichare not congruentto each otherin it.
The case If = Si1+1and M is completein Theorem4 is interestingcom-

pared withTheorem3. We will treatthis case in the next section.
4. Minimalhypersurfacesin Sn+Iof the type in Theorem4. According

to Theorem4, we considerS+1 as
Sn+1 C Rn+2 - R* X R2
and (,. *, e") denotingthe movingorthonormal

framein R;nat the origin,
we put
(4.1) de-==Y Wo-ijij, ,,i+ Z,o=O .
We take a plane curveC in R2 witha givensupportingfunctionI(O), then

the genericpoint q (0) of C is given by
(4.2) q(0) - ei(OmI2)(h(0)+ ih'(G)),
by consideringR2 as the complexplane. The Frenetframeof C at q (0) is

given by

Ven+2 N~~~~~~m
(4. 3)
and the arc lengthu of C is given by
(4.4) du = {h(0) + h"(0) }dO )
and, as is well known,the radius of curvatureis h(0) + h" (0). Using 9.+
and. e+21 we have
e7, e2+2 0
(4.5) q= h%j+1 - he2, dq= j.+,du.
Supposing C is containedin the unit circle,we definea functionp > 0 by
(4.6) p2== -- ll
11q1 =-h2_(h')2.
M in Sv+1by
Now we definea hypersurface
(4. 7) p = q + p4*== pjn + h'j+1 - hjn+2.

By means of (4.1), (4.3), (4.S) and (4.6), we have
dp= p , o)naea+ 4in + (h + h"')d0en+1.
Putting
(4.8) \Lt=ea e = V(p')2+ (h?+l")2

-\/ (p )2 + (h + h")
2 do,
the above equation can be writtenas
(4.9) dp wia,

and (p, e1, frameof M. at p. From (4. 6), we get

, en) is an orthonormal
(4.10) h'(h +jh") +-p.p=-0,
hence
I 1-h 2
(p') + (h+ h")2 I 2 (h + h )2.
Thereforewnand en can be writtenas
V 1- h2 (h V1h2
(4.11) - +h")dOd du,
p p
(4.12) en (-7'6n + pjn+,)
By simplecomputation,
we can choosethe normalunit vectorof M in Sn+1by
-h
(4.13) e+1= (Vn2(P +
+h'1+1) -V1 - h2n+2.
If we take ean+2 PI-P/ p 11as normalunit vectorof Sn+l,then {e,, e"1.2

make a base in Rn+2 withthe same orientationof {, *,n+2}
Now, from (4.8), (4.12) we get
10aa+1 -<ea, Den+1> = e- <a, den+,>
hp hp h
/-h2
Vi
uZ
h2<a,dC,n>= / -hh2 V]4+
V-2Wna
VI 1 _h71,2
(aa
that is
h
(4.14) Wan+l
=@XOa,
whereD denotesthe covariantdifferentiation

on Sn+2. Then, we get
W+1 <e,, DeC,+i>- - <en, den+,>
- v h2<-h'tn d (-e,+1) >

+ pjn+iL
={7/1
1-h2hS{- h' kp/
{ph"-v h.)'+P(h-h)'
ht _2 -\/1- h2 }do
1h 2 (ph"- P'h') - p} dG,

and using (4. 10 and (4. 6)
(4.15) , h(h+h ) _ 2} dO
By (4.11) and (4.15), we have
h __________
(4.16) tS-hS V (h4+h")V(1-h2)3
Thereforethe condition (n - X4-
+ = 0 that M is minimal in Sn+1
can be given by
(n-1)h h 1_-__h2(h__)_ 2
_
-\/ -h r . ::
h
Vi -h2 {V1 (h+h"f)V(1
- 2)3h
by (4.14), (4.16) and (4.6), that is
(4.17T) nh(l_h2) d
d2h dh)2
27h+ (dh + (1-h 2 )(nh 2 _) O.
Conversely,if a functionh(0) satisfying(4. 17) gives a plane curvein

R2 containedin the unit circleby the equation (4. 2), thenwe get a minimal
hypersurfaceM in Sn+1by (4. 7). The propertiesof theminimalhypersurface
M completely depend on the properties of h (0).
In the following, we will investigate the properties of the ordinary
differentialequation (4. 17) of order 2. Putting f = h2 + (h') 2, we get
I dfo hh' + h'h"
= hh' (h')3 __(rh2 -1) h'

nh(1-h2) nh
that is
(4.18) 1df h'{1-h2 (h)2} h'(1 -f)

2d6 nh(1-h2) nh(1-h2)'
hence
df 21{
1 1
h
1-f n h 2(1-h) 2 (I + h)
Integrating this equation, we get
h=2
1 -f C( I h2)-ln C constant,

that is
(4.19) dh)2 -h2- 1

( -1) 1n.
From the standpointof our problem,by means of (4. 6) we will consider

only the solntionsof (4. 17) snch that
(4.20) 0<h(6) <1.
Since (4. 18) can be writtenas
d(1-f) -2h' (1f

dO nh(1-hh2)
for any solntionh (0) with (4. 20) it must be
h2 + ( )2 -1 or Il everywhere.
Therefore,if we take any solutionh (0) of (4. 17) withthe initial condition:
(4.21) 0<h(O)<1, (h(0))2+(h'(0))2<1,
we have
h2() + (M(0) )2<
as long as 0 < h(0) < 1, but this is trneby means of a resultin Appendix.
Also by Appendix,h(0) is periodicwith respectto 6 except the case h (0)
= constant. We have a nnique constantsolutionof (4.17), that is
(4.22) h(0)1=+
and the minimalhypersnrface

M for this solutionis
(4.23) M= Sn-(\f ) XS1(xj:),
whichis the case corresponding

to Corollaryof Theorem3. For non constant
solntionh(6) of (4.17) with (4.21), its range is given by

whichis a closedintervala0 ? h ? a,, 0 < aO <.a < 1, where ao, a, are the
two solutionsof the equation
(4.24) 1-h2_C( 1) I/n o
Since ao and a, satisfythe inequality
(4.25) ao < V<a,
and h'(0) = 0 onlywhereh(0) aO or al, hence we may put
1
(4. 21') O< h(O)= a< -=, h'(O)==O
V/n
and denotethe solutionof (4. 17) with (4.21') by h(6,a) and the minimal
hypersurface immersedin Sn+1 correspondingto h(0, a) by Mn (a). By (4. 19)
and (4. 21'), the integralconstantC is givenby
(4.26) C (a2)1/n(I- a2)1-1/n a ao.
Mn(a) is compact,especiallyimbeddedin Sn+1 if and onlyif theminimum

period 0 (a) of the solutionh (0, a) is 27rX rational,especially27ris a period.
The period 0 (a) is clearlygiven by the followingintegral
dh
(4. 27) o)(a) ~2
1l-h2_C( 2- ) 1/n
since
h(0, a) =h(206- 0 a),
where a, = h (06,a), i = 0, 1. By Appendix, 0(a) has the following properties:
(i) on 0 < a <

it is differentiable
(ii) @(a) >7r,
(iii) lim? (a) 7r, lim e(a) \ 27r.

a-->+o ool/n-O
So the range of 0 (a) is
(4. 28) Tr< 0 (a) A or 7r< ? (a) < /27r,
11

whereA,is a constantdependingon n, and by (iii), we have
(4.29) 27r?A.
(4. 28) shows clearly that if 27r is a period of h(0, a), then it must be
((a) = 27r. This is the only one case corresponding to compactimbedded
hypersurfaces exceptthe case (4.23). In conclusion,we have
THEOREM 5. Any completeminimalhypersurface M immersedin Sn+1
(n ? 3) of the typein Theorem4 is given by the followingmethod.
(i) C is a plane curvein R2 given by
q (0) == e(-12) (h (0) + ih' (0)),
whereh(6) is a solutionof the differential
equation (4. 1T) with
1
O <h(O) =a< - h'(0)-O.
(ii) M: p I -h2 (0) (h'(0) ) 2 in + q (0),

where en
E Rn, 11in 11-I and Sn+1 C Rn X R2.
There are countablenumberof compactminimalhypersurfaces
ofthistype
and the special case M. Snl-1Q n ) XS1(<I) correspondsto h(0)
h'(O) = 0. If the constantA 27r,then we have anotherimbedded

minimalhypersurfaceof this typein Sn+1. This construction
holdsfor n 2 =
and gives minimalsurfacesin S3.

Remark 1. It is a veryinterestingthingto decide whetherA < 2ir or
A ?2r connectswith the existenceof imbeddedminimal hypersurfaces of
this type otherthan S-'( 1 ) XS(1

/n- ). But, the author has no
answerto this problemfor the present.
Remark 2. By (3.10) and (4.14), we have
A 112 =n(n- 1)x2=n(n -1) 1-h2
Hence the range of 11

A 11is givenby
n (n-:1)ao2 n n a
A -- V (
1-a2
ao _
A1-a <nn1a2

If a = a, -- 0, then a, -> 1 -0. Therefore for any interval [b0, b] (b0 > 0)
there are constantsa such that the corresponding Mn(a) is compact (i. e.,
? (a)/27ris rational) and the range of 11
A 1Icontains [b0,b1].
Appendix.
In the following,we will investigatesome propertiesof the solutionsof
the ordinarydifferential
equation of order2:
d2h dht2
(1) nh(I h) dS d) + (1 h2) (nh 2 _
) 0.
Any solutionh(0) of (1) such that 0 < h(0) < 1 will be obtained,as
stated in ? 4, by integratingthe followingequation
(2) ( dh) 2 1-h2 C( 1) 1/n.
whereC is a positiveconstant. Since the range of x such that
(1 X) -Cf 1) 1/n n 0 < X < I

x
is givenby the set of pointsof the curvey= (1-1)1/n (O < x < 1) beneath
x
the line y = (1 - x). As easily seen, this curve intersectsat two points
with this line through(1, 0) when
O < C < (_l/(l- ) _n

n n
and the tangentline at (-, (n - 1)1/n) is the onlyone through(1, 0). And
n
let the x-coordinatesof the above two pointsxo, xl, then
o < xo <-< xi <1.

n
Therefore,we have
(3) ao Vxo ?h(0) ?a, = xl.

The minimumand maximumof h (0) must the ao and a,, because at such
points h' (0) 0. Furthermore,y h(0) is symmetricwith respect to
=

0 0,,0, where a,=h(00), a= h(0,). From. the form of (2), we can

easily see that h (0) is periodic and its minimal positive period is given
by (4.27)
-al. dh 1
(4) ?(c) =-2 h n c (
n 1-
4-h _C 21C-c/
For simplicity,we put
+(X) ==XO (I _x) l-a aC l/n.
LEMMA 1. 0(c) is differentiable

on c> 1/+(1/n).
Proof. If we put h = sin+, we have
( (c) a2
Jo5 + d
cos(pdo dop
(6) r2cos
JO /cos2+ C (cot2(p)1/n ? |1
--P(p)
[p(
where
(7) P(() - (1 + tan24) (tan2 p)1Il- (cosn-I sin )-2n
and
(8) ao sin40, al sin01, 0Oo< f<P1<7r/2,
sin=,8 Va =--I/
Vn.
Since y= P() is convexdownwardand takes its minimal at (= it is

to prove the differentiability
sufficient of
d do
(9) FoF(c) - Pi(c)
?4-I p (+,') 1P(+
The situationis the same, so we prove it only for FP(c). Changingthe

parameterof integration,by u P (cp), we get =
01I(u)
F(C)
F1(C = \FoCc
cj V du,, CO=-P( )=1/(a).
2In ?4, we simply denoted O(1/, (a2) ) by 0(a).

Here we may suppose 4l (c0) = 0. Putting
G,(c)al(c)
=4'=
X () udu=fXC-00(l'(c
1~
co\/ 6-f O t/t
t) dt,
we take a positivesmall Ac. We have

-00
G,(c + AC) - G, (c) = X ? (c + AC- t)f l(c -t) dt. (I)
co dt.
and (II)
cJi(c+ct)
(I)an C-CO-i (c+Ac- t) t) dt
=lim C
J6O O1' Vt p1'(c-
=lim{[
el-- O
V
c-c0
i(co+c) +AC + t) --
(C Ac -t)
si(O + Ac
(II) = fc+ Ac
I
.dt
V(c-o cC)t
G 01(c + AC -( (c-cA 0 (c +AC -t)- () (c

+lGm{ dc -
6e>o Ac Vt
f?) (C + AC) C a?)(c+AC t)dt

raCO+AO
V/c co ' -CO tV/t
Hence we have
C
c)=_
Gj(c+ Ac)-G,1( (c+ Ac
CO+CI1 _t) dt. . .
0,
f(c + AC e f(0 c c-c 0(c
O*a-a + AC t) qb(c t)
lim{ et/ dt}.
H:erewe replacedupper bound c- -co -E of the integralin the braces with
c-c, since 0,(u) is continuous. By the continuityof O:L(u), 01(CO) O
and the mean-valuetheoremforintegrals,(I') is negligiblewhenwe consider
lim G, (c + AC) -G, (c)

AC-o AC

Taking a fixedpositiveco> 0 such that 0 < co< c - co,for 0 < e < e0,
we have
Pi(c +
AC f 0 (C f)
q,1(c + Ac -t) - (C -t) dt
(C?AC V
-E) -P ((C )Ce
2 fe
to) 01(C t
ACt)p (c.t)
at
dt
V ~ ~~et\/Vt
(Pi(C + AC
CGCo C-t)- (p c t)
VEo~~~~~~~~~
Pio,(C?+AC -t)-P1 (c -t)dt
hence
II =f (c + AC -fEo) - (c -,o) + co oi,(c + AC -t)-' (c -t) d
C (PI (
fG_o C+ ACc-t)- (p C t)
Thus, we get
lir Gi(c + Ac)- G(c)

Ac->+o AC
(10) 01 (c -E) + lim {0eo p'(c+Ac-t) -(p'(c-t) dt

Vco ?lir>+oo Ac V t
2-li+ f-cof i(c +?Ac-t)- l(c t)

Ac-->+o Ac tV t
Now, on the second termin the righthand side of (10), noticingthe
followingtwo facts:
(i) l"'(c + Ac -t) is definedon 0? t - c and uniformlybounded
withrespectto t and Ac,
(ii) 1--=dt 2 /E,
we have easily
(11) lim J6? (c+ c-t jtcdt =

(c dt.

MINIMAL HYPERSURFACES. 16 7
On the thirdtermof the righthand side of (10), noticingthe fact
lim p'(c -t) +oo,

t- c-c0-O
we take a small positive e, > 0 and get
lim 0-0cc (c+ AC tt

fCO~(?c
)- (
1c~
c t)
dt= ~
-oe
~
1 ( c-t ) dt
AO>+o eO Ac t t Vt
+lmOfC-co p1(c+Ac-t)-l1(c-t) dt.

AO-+o o-00-6i AC -t Vt
Now, we have the followinginequalitiesabout the second termin the right

hand side:
p-co
0l(c+Ac-t)-ql(c-t)
dt
C-Ce-El tVt
1 j- C-Co
<
-
3 (01 (c + Ac- t) 01 (c -t) )dt}
(c Co E1) 2 C-CO-E1
(C -Co
1-
)2
JCo+El
r3
3{
2
o+6:L+A C0+A
l(u)du - J f (u)du}
C
C0+AC
and analogously
f-Co p1(c+Ac- t)-q1(c-t) dt
JC-CO-El t \/t
1 (~C0+El+AC C C0+AC
> 3c) { JC duo+l (u) du}.
y f(c +AC - t) =b(f
t=U C CO cj- co A +
Once again using the mean-valuetheoremfor integralswe have

01 (CO_+ 61) c(lim f- 0(C+AC,t)-1 (c t) dt

(C - CO) 2 AC-+O C-C0-El AC * tVt
i (Co + 61)
c
3
(C _Co _61)
hence
Urn
lim lim q1o(Pi(c?+AC -t) t - +(1(c
Urn,(-Of(+c )dt
t)ci=0 0.
e:L->o \c-o+
-co-e1 AC t-Vt
Thereforewe get
(12)
(12) urn
li f~~000d1Oi (c+/-l-1(
-?m (c +AC -t) -p(c -t) dt= jc-co tt
p1'(c-t) dt.
Hence, combining(11) and (12) with (10), we have
lmG, (c + AC) -G, (c) (Al'(c = e0) + eO (Al"( c t) d

AO>+o Ac VE0 o Vt
- 0p 01 (c- ) dt.
Next, doing careful analogous computationfor the left derivativeof

Gi(c), we can get the same value with the right derivativeabove. Hence
G1(c) is differentiable.Thus we get
(13) dtP(c) 1 c-co

dec 2VcJ VFt
+ C{+1'(c=Eo) + e c(l (C- t)
+ Vct~~~~-
,f\o o
+- - \ t dt
cdt}
for c> co 1/0(1/n), where eo is any positive constantsuch that 0 < c

< c- c,. Thus we have provedthat ? (c) is differentiable.
LEMMA 2. ? (C) 7r.

>
Proof. Firstly,we give anotherformof the period function0(c). In

(4), puttingh2 x, we get
idx

Putting
g(x) =x(1-x)-Cx'-a(1-x)'1=x(1-x) (1- C
we have
(15) g'(x) I 2x ((1-x)la
(16) g" (x) =-2+ xa(l-_c) - > -2
J
and {x g(x) O,0 <x < 1}- [x0,xj]. Clearly,by (15), g(x) takes its
maximumon [x0,x,] at one point x = x2,pxO < x2 <xi. Let g (x2) a> 0. =
Now putting
L (x) (g' (x) ) 2 + 4g(x),
we have
L'(x) 2 (g"(x) + 2)g'(x).
Hence by (15) and (16), L(x) is increasingon [xO,x2] and decreasingon

[x2,x1] and its maximumis L (X2) 4g (x2) 4a, therefore(g') 2 < 4(a -g) =
on (xO,x2) and (x2,xl). Thus we have
o(c) ao -x
dx
02
+ $
dx
___
()
f12 g'(x)dx Xi g'(x)dx

aO g (X) (gt(X) ) 2 g2g () (g (X) 2
2g
> = [sin-' ]0a = 7r. Q. E. D.
-JVg(a-g) a
LEMMA 3. lim ? (c) 7V2ir.
1->/q/(a)
Proof. For any m (O < m < 4), define
(17) (x)
LmzL (g'(x) ) 2 +mg (x),
then
Lm'(x) (2g"(x) + m)g'(x)
2g"(x) +m- qm 4+ 2+a2(1- c)
First, we assume m > 2. Since C =q(x0) < * (x) < ip (a) on (x0,x1),
we have

2g"(x) +m>m-4+ 2cc(1-ca) 2-mca

mxl+a(XX) _(X)
>2{a(1-a) *l(XO) 4-r

x (1-x) 1(a) - 2
Since 42m < $oand lima x(1 -

) (a) 1, if we take x0 sufficiently
near
to cafor m, we have
2g" (x) + m > 0 on (xo,x1)

and
(g'(x))2?+ng(x) <nma on (xO,x2) and (x2,xI).
By an analogousway in Lemma 2, we get
> 2 ra dg 2ir
+mo V/g(a-g) Vm
V
for c sufficiently
near 1/1(a). Hence we get
(18) l (c -- tT
C-14(a) V/2
Next, we suppose0 < n < 2, then we have on (x0,X1)
2g"(x) + n< n-4 + 2c(l-c) . (x)

_
(19)
=m-4+ 2a(1-a) = a(c
2{ -a) 4-rn
x(I-x) {x(1=x) 2 }
4- rn _ _ _ _ _ _
Since > 1 and lim c(1- ) 1, if we take xo also sufficiently
near
2
-
X-->ax(I- X)-
to ccfor rn,we have
2g" (x) + m < 0 on (xo,X1)

and
(g'(x))2+mg(x) > ma on (xO,x2) and (X2,X1)-
Hence we get
2 a dg 2ir
0J(C) < Vio g (a - g) - mrn

for c sufficiently
near 1/+(a). Hence we get
(20) lim @(c) < - 2

V7r.
C-->/g(a) V2
By (18) and (19), we get
lim (9(c) =V27r. Q.E.D.

C-->/g(a)
4o
LEMMAn or
ll)(a) < c _ 1/<(ai), E)(c) < 2r, where(i is thesolu-
tion of 3x(1 -x) =--2a(1 - ), a, <a.
Proof. In (19), we put m 1, thenwe have
2g"(x) + 1 < 2{t,(1-ca) - }

x(1-x) 2
If 1/+f(a) < c ? 1/+(a1), then we have easily
a(1-c) - < 0 on (xo,xl).

X(1-_X) 2
Hence we have
?(c)<2f dg 2X. Q.E.D.

V\og/g(a -g)
LEMMA 5. lim ? (c) = -.
c-- 00
Proof. By (16) the points of inflectionof the curve y g (x) are

given by
g (x) 2+ GCa(1-c) 2-a-?-0,

x1+a ((1 X)
hence their x-coordinats xopxl (0 <Jxo<;xl < 1) are the x-coordinatesof

the points of intersectionof the curve y =- +f(x) independentof c and the
curve y= 2 i(-) a 1
2cx(1-x) '(xo) 2a)_
2 x1+ 1-x ) Thereforewe have
-1
limx~o- 0, lim.xl
c 0co C-*co
On the otherhand, since C =- +f(xi), i = 0,1, we have
g",(xi) 2 a(1 - a)
9 (+XI(l-x)
Let c2 be the solutionof 2x(1 - x) a(1 - c), c2 < c1. Then,if 0 < x0 <c2,
1 2 < X1, we have g"(xi) > 0, i = o1 and x0 < XQ < a, <X1 <X1. The

conditions0 < xI < a2 and 1I-2 < xi are equivalentto c > 1/if(1 -c2).
For such c, the curvey g (x) is convexdownwardon (x0,x.) and (x,xi)
=
and upward on ( And we have by (15) g'(xj) ca -xi.

Now, we estimate? (c) for C> 1/1I(1- a2) by using the followingin-
equalities
g(x) > (- xo)(x -x) on (xop;&)
g(x) > (,- xi)(x- x) on (x1,xi)
which are followedfromthe above facts.
LWI dx
tlaoV g(x)
(21) WO dx XI dx ca1 dx
(21) < J V( ' xo) (x xo)?J+ v(x)
g J (
V(x- ) (Z1 x,)
,x0-x e1 dx Xi -
-2
2 < -~c - X0+ ,;;+ V g(x) + 2 _
x1-cc
Now we take a fixedpositivesmall e > 0 and a sufficiently

large c such that
xo <1, - - < xl, then we have
g(x) > g(E)-g x0)on (xOE)
g(x)>g -IE)
1g (j))(& -x)on x
therefore
(22) Ctdx < 2 e+ dx + 2 _ __ e)-___

.0g(x) Vg(e)-g(~) Vg (x) ?2 g(1-E) g(1)
Since g(x) tx(1 -x) when c->oo, from (21) and (22) we get
lim(c)?4\Il ?f dx <4
lim0(c) _ 44 _ + /( < 4 +1 f r.
0-->001-lej Vx(1 -x) \I1 E?
Since E is any positivesmall number,we get fromthis and Lemma 2
lim?9(c) Ir Q.E.D.
c- C00
UNIVERSITY OF CALIFORNIA, BERKELEY,

TOKYO INSTITUTE OF TECHNOLOGY.

REFERENCES.
[1] E. Calabi, " Minimal immersions of surfaces in Euclidean spheres, Journal of

Differential Geometry,vol. 1 (1967), pp. 111-127.
[2] S. S. Chern, M. doCarmo and S. Kobayashi, "Minimal submanifolds of a sphere
with second fundamental form of constant length," to appear.
[3] H. B. Lawson, Jr., " Local rigidity theorems for minimal hypersurfaces,"Annals of
Mathematics, vol. 89 (1969), pp. 187-197.
[4] T. 6tsuki, "A theory of Riemannian submanifolds," K?ddai Math. Sem. Rep., vol. 20
(1968), pp. 282-295.
[51 "Pseudo-umbilical submanifolds with M-index ? 1 in Euclidean spaces,"
K5dai Math. Sem. Rep., vol. 20 (1968), pp. 296-304.
[6] J. Simons, "Minimal varieties in Riemannian manifolds," Annals of Mathematics,
vol. 88 (1968), pp. 62-105.
[7] T. Takahashi, " Minimal immersions of Riemannian manifolds," J. Math. Soc.
Japan, vol. 18 (1966), pp. 380-385.


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Minimal Hypersurfaces in a Riemannian Manifold of Constant Curvature

Author(s): Tominosuke Otsuki

This content downloaded from 134.114.138.130 on Fri, 12 Dec 2014 20:27:13 PM

S. S. Chern,M. do Carmo and S. Kobayashi provedin [2], Corollary

Received January 27, 1969.

This content downloaded from 134.114.138.130 on Fri, 12 Dec 2014 20:27:13 PM

{A, A-1, 2,. . *,n + p} and {t(AB, A, B - , 2y.,* . n+p}

be the canonical 1-formsand the connection1-formson F'(M) for M. Let

(+ (x) , +*el, * * q*,

B becomesnaturallya differentiable manifoldand 7r:B ->M is consideredas

Since w,o O (a > n), we can put

This content downloaded from 134.114.138.130 on Fri, 12 Dec 2014 20:27:13 PM

Now for any x C M, we denotethe normalspace to * (M0,) in 1,() by

(1. 2) YeatOea) ==1YE

(1. 4) Oh)n+i "Aij(Rjp Wj,o O (/3 > n + )

Then, fromthe structureequationsof if

wherec is the constantof curvatureof M, and w = 0 (a > n), we get on B1

Since M is minimaland M-index=1, we have

XAii O, rankA >2

whereA ((Aij)). Therefore,fromthe above Pfaffequationswe get

(1.5) W1,B=0 (18>n +?1) on B1.

This content downloaded from 134.114.138.130 on Fri, 12 Dec 2014 20:27:13 PM

Denotingthe set of 1-formsof the lefthand sides of (1. 6) by (*), fromthe

do- , A i+ - A - +,6 + E At= O (mod(*)),

hence (1. 6) is completelyintegrable. B1 satisfies(1. 6). About any point

2. Integrabilityof the distributionof the space of principal vectors.

THEOREm 2. Let M be a hypersurface immersedirnan (n + 1)-dimen-

Proof. Using the same notationsas in ? 1, we may choose the set of

by the assumption,whereX, are principalcurvatures. Hence we have

On the otherhand we have on the curvatureformsof M

(2. 2) Qin+i czi A(on+, O on M.

This content downloaded from 134.114.138.130 on Fri, 12 Dec 2014 20:27:13 PM

Substituting(2. 1) and (2.2) into

dw+?*1 = )j A .ow+l +? -n+ii

(2. 3) can be writtenas

. (0j + ijdXj) A =0.

By E. Cartan's lemma,we get

whereBijk are uniquelydeterminedfunctionssuch that

By means of (2.4), (2. 5) and (2. 6), Bijk withrespectto i, j

(2. 7 ) Bjjk-Bj1k = Bikj - Bkji

On the otherhand, we have Oj =0 if a =-A, hence

dwi wjA *jj o)jA wj,+ Ei

in which substituting(1. 5) and using the properties(2. 7) and (2.8) of

dw 'Y wjA(tq > I BftpjA WI

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(2. 10) 'Wj 0 (j E[i])

and forany j E [i], j z i, we have also

(2.12) Bjj== O,B BjjkB, j E [i], [i]

Therefore,along the integralsubmanifoldcorresponding

3. Minimal hypersurfaceswith two principal curvatures in a Rie-

Using the notationsin ? 2, we may put

Since M is minimal,we have

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and we may suppose A > 0. By Theorem2, let.us denotethe integralsub-

by meansof Corollaryof Theorem2, we have

(3.4) .=+ - =-- 0,, if n- m>2.

(3.5) Baak Brrk= O, a?< m <r, k =1, 2,* - ,n

Oar = z Bark0k- Barawa + Barrwr 0= ,

(3. 7) dwab - w"acA/\b + an+j A wn+b -Oa A ?b

(3. 8) dwrt= qAW9t-(2_ C wr

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hence ,= -c, which followswith (3. 2) that

Thus, this case can be consideredonlyfor if of positivecurvature. Therefore

{A, A-1, 2,. . ,n + p} and {t(AB, A, B - , 2y., . n+p}

(+ (x) , +el, * q*,