SO(4,R) - Knowlpedia

$\operatorname{SO}(4,\mathbb R)$ is the special orthogonal group of $\mathbb R^{4}$ for the bilinear form $\sum_jx_jy_j$ :

\operatorname{SO}(4,\mathbb R)=\{A\in M_{4}(\mathbb R):A^{\mathsf T}A=I,\ \det A=1\}.

Dimensions and structure

This group has real dimension $6$ . Its tangent algebra is the skew-symmetric $4\times4$ matrices. The spin covering has kernel {±1}, so this group is not simply connected.

References

Pavel Etingof, Lie Groups and Lie Algebras (MIT lecture notes), §31.2, Example 31.3 and Proposition 31.4; §31.3, Example 31.10, pp. 166–168.