Regularity and structure of non-planar $p$-elasticae

We prove regularity and structure results for $p$-elasticae in $\mathbb{R}^n$, with arbitrary $p\in (1,\infty)$ and $n\geq2$. Planar $p$-elasticae are already classified and known to lose regularity. In this paper, we show that every non-planar $p$-elastica is analytic and three-dimensional, with th