The disclosed system, methods, and apparatus relates to a self-cleaning litter box. The self-cleaning litter box includes a movable rake. A mechanism controlling the rake can allow for control of the forward/reverse position, the vertical position, and the rotation of the rake using a different path of travel for the forward and reverse traversals of the rake across the litter box. The controlled positioning of the rake can reduce force on the rake and other mechanical components, and more evenly distribute litter. Further, some implementations may include a dumping mechanism that involve the rake flipping so that clumps of pet waste are forcibly removed from the rake by a mechanical impact. Further implementations allow for removal/replacement of the rake.