Design of a Practical Cat-righting Reflex (crr) Model

The dynamic model for the Cat-Righting Reflex – the innate ability of cats to always land on their feet no matter what their initial orientation was when they were released – had been quite a debated physical problem which was solved by the mathematical solution proposed and verified by Kane and Scher and later by a more general solution by Montgomery. However, the practical implementation of this ability in a robotic structure may demand for a modified version of these models with focus on physical realization of the same. This paper proposes such a model derived from the Kane-Scher cat model and simulates the same to test its suitability. An analysis is also made of the closeness to which the practical model realizes CRR with respect to the theoretical model.