Characterizing the Universal Rigidity of Generic Tensegrities

Abstract: A tensegrity is a structure made from cables, struts and stiff bars. A d-dimensional tensegirty is universally rigid if it is rigid in any dimension d′ with d′≥d. The celebrated super stability condition due to Connelly gives a sufficient condition for a tensegrity to be universally rigid. Gortler and Thurston showed that super stability characterizes universal rigidity when the point configuration is generic and every member is a stiff bar. We extend this result in two directions. We first show that a generic universally rigid tensegrity is super stable. We then extend it to tensegrities with point group symmetry, and show that this characterization still holds as long as a tensegrity is generic modulo symmetry. Our strategy is based on the block-diagonalization technique for symmetric semidefinite programming problems, and our proof relies on the theory of real irreducible representation of finite groups.

combinatorics

Audience: researchers in the topic

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Virtual seminar on algebraic matroids and rigidity theory

Series comments: The COVID-19 pandemic is forcing us all to stay home, foregoing conferences and departmental seminars for the next few months. This weekly virtual seminar is an attempt to patch that departmental-seminar-sized void in our lives until it is safe to resume our more traditional forms of professional networking. Since geographic location matters a lot less for a virtual seminar than for an in-person seminar, this virtual seminar will be defined purely by its mathematical theme, algebraic matroids and rigidity theory, and not any particular department nor region.