On the Euler equation: bi-Hamiltonian structure and integrals in involution

We propose a bi-Hamiltonian formulation of the Euler equation for the free n-dimensional rigid body moving about a fixed point. This formulation lives on the 'physical' phase space so(n), and is different from the bi-Hamiltonian formulation on the extended phase space sl(n), considered previously in the literature. Using the bi-Hamiltonian structure on so(n), we construct new recursion schemes for the Mishchenko and Manakov integrals of motion.