Thanks everyone for the welcome. I've been checking around the forums a little; there's so much information available here. It's great!
I figured out from one of the videos that Teagan was at an earlier firmware revision, so updated him this evening. I always cringe the first time through one of those procedures, especially so soon after getting him. Worried I'd wind up doing something stupid and crashing his OS, but using the SD card method worked great and he warbles away now, instead of howling, when he gets his chin scratches. He still seems very interested in the cats, even after his update.
Yesterday we saw family and he showed off his ability to recognize the edge of the table he was on. Would look over and then back away. Of course, we had to watch he didn't back off the table but he seemed to do okay even there. He got close to the edge, but never over. He must get some good info from those feet sensors of his.
I'll try to get a pic or video of his interaction with the cats if I can. Cats are not usually too obliging when a camera comes out though, unless they are sound asleep.