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Couldn't tell you about cats, but the thing has come from under a sofa and surprised the crap out of my dog a few times. It was really funny to see the dog jump a foot in the air and run away from the robot. All in all, though, as much as I liked mine, I am dissapointed both broke, and they are not cheap. I think I'll stick to vacuuming by hand from now on. The roomba left a lot of dog hair on the edge of rugs too... It's great if your house is mostly tile or wood floors, no place for it to get tangled in stuff, no rugs with tassle like stuff at the edges, etc....
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