his findings were published in the journal Nature. The article's summary in Nature appeared thus: Despite the publication of the images, many physicists at the time maintained that the cat was still "cheating" by using the handler's hand from its starting position to right itself, as the cat's motion would otherwise seem to imply a rigid body acquiring angular momentum. Solution The solution of the problem, originally due to , models the cat as a pair of cylinders (the front and back halves of the cat) capable of changing their relative orientations. later described the Kane–Scher model in terms of a connection in the configuration space that encapsulates the relative motions of the two parts of the cat permitted by the physics. Framed in this way, the dynamics of the falling cat problem is a prototypical example of a nonholonomic system, the study of which is among the central preoccupations of control theory. A solution of the falling cat problem is a curve in the configuration space that is horizontal with respect to the connection (that is, it is admissible by the physics) with prescribed initial and final configurations. Finding an optimal solution is an example of optimal motion planning. In the language of physics, Montgomery's connection is a certain Yang–Mills field on the configuration space, and is a special case of a more general approach to the dynamics of deformable bodies as represented by gauge fields, following the work of Shapere and Wilczek. See also Momentum wheel Parallel parking problem References Works cited . . . . . . . Further reading Lagrangian Reduction and the Falling Cat Theorem Biophysics Cat behavior Classical mechanics Control theory Rotation