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Description
Waveshare WAVEGO Pro 12-DOF Bionic Dog-Like Robot Open Source For ESP32 And Raspberry Pi, Basic, EX, Pi 51. The entire machine has 12 degrees of freedom, with a multi link structure design for the legs, which increases the effective torque of the servo motors 2. It uses 2. 3kg. cm serial bus servos, which can provide real time feedback on position, speed, and input voltage, etc 3. A real time operating system serves as the lower level machine for gait generation and link inverse solution, relieving the computing burden of the upper level machine and
1. The entire machine has 12 degrees of freedom, with a multi-link structure design for the legs, which increases the effective torque of the servo motors
2. It uses 2.3kg.cm serial bus servos, which can provide real-time feedback on position, speed, and input voltage, etc
3. A real-time operating system serves as the lower-level machine for gait generation and link inverse solution, relieving the computing burden of the upper-level machine and improving the efficiency of gait calculation
4. The ultra-compact structure design can be used on a desktop, with the structure made of aluminum alloy and HP nylon materials, reducing weight while maintaining structural strength
5. The Raspberry Pi can be expanded as the upper-level machine, using OpenCV-related advanced functions. The routine includes face detection, motion detection, and color tracking functions. It reserves expansion interfaces and comes with rich user manuals and secondary development documents
6. It has attitude self-balancing, with a high-precision 9-axis motion tracker ICM20948 that can adapt to various terrain environments and control its own balance
7. Login to the Web to remotely control, without the need for manual configuration of the compilation environment. The machine starts up and automatically establishes a Wi-Fi hotspot. It can be connected and logged into the control page using a mobile phone or computer browser, without the need to download an app
8. It can record actions and perform one-click playback. The robot dog can save the control robots JSON instructions as a task file, which is saved in the Flash of the ESP32 and will not be lost after power loss. The robot dog can execute complex repetitive operations by calling these task files
Parameters
1. Standing: length 218mm, width 116mm, height 152mm
2. Lying down: length 228mm, width 116mm, height 127mm
3. Total weight:
- Basic: 465g (including battery)
- EX / PI5 kit: 554g (including battery)
4. Degrees of freedom: total 12, per leg 3
Operating system
1. Provided routines: FreeRTOS + Raspberry Pi OS
Motion performance
1. Supported actions: handshake, stand, slow squat, diagonal gait, jump, self-balancing
2. Motion extensions: action programming routines provided, including flexible velocity functions (Bezier curves)
3. Maximum load capacity
- Basic: 300g
- EX / PI5 kit: 200g
Servo information
1. Servo dimensions: 23.2 x 12.0 x 25.5 mm
2. Servo weight: 13g ± 1g
3. Working voltage: 6V
4. No-load speed: 0.1sec/60° (100RPM)
5. Stall torque: 2.3kg.cm (31.99oz.in)
6. Rated load: 0.7kg.cm
7. Rated current: 400mA
8. Control mode: digital signal
9. Control protocol type: half-duplex asynchronous serial communication
Visual function
1. FreeRT OS Routine: web-based real-time video transmission
2. Raspberry Pi OS routine: real-time video transmission, face detection, color tracking, motion object detection
3. Note: all the codes are open source. The routines in Raspberry Pi OS are developed based on the open-source projects flask-streaming and OpenCV
Processor and storage
1. Lower-level device (ESP32):
- Processor: Xtensa LX6 dual-core 240 MHz
- SRAM: 520KB + 8MB
- Flash memory: 448KB + 4MB
Others
1. Wi-Fi standard: 802.11b/g/n
2. Bluetooth standard: Bluetooth 4.2, including traditional Bluetooth (BR/EDR) and low-power Bluetooth (BLE)
3. External interfaces:
- 2 x 5P multi-functional expansion interfaces (for upper computer communication and power supply)
- DC charging port
- Type-C (for downloading, serial communication, and peripheral expansion)
4. Power supply parameters
- Battery type: 18650 lithium-ion battery
- Power supply voltage: 7V - 8.4V
- Charging voltage: 8.4V
- Capacity of a single battery: 2000mAh
- Number of batteries: 2
- Battery protection: anti-overcharge, anti-overdischarge, anti-overcurrent, anti-short circuit, anti-reverse connection, balanced charging, stable operation and safer
- Output voltage: can output 5V power supply, convenient for powering other main control boards
Basic package contents:
- WAVEGO Pro (Pre-assembled before shipping) x 1
- Accessory kit x 1
- Power supply x 1
- Packaging box x 1
EX package contents:
- WAVEGO Pro EX (Pre-assembled before shipping) x 1
- Raspberry Pi expansion pack x 1
- Accessory kit x 1
- Power supply x 1
- Packaging box x 1
Pi 5 kit package contents:
- PI5 WAVEGO Pro kit (Built-in 4GB Pi5, pre-assembled before shipping) x 1
- Accessory kit x 1
- Power supply x 1
- Packaging box x 1
Specification:
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4.4 ★★★★★
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Product Reviews
★★★★★ 4
Good but wood smell
Color: Carbonized, Size: 3-piece
These came with a woodsy smell but the price was great for the quality
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Reviewed in the United States on May 8, 2026
★★★★★ 5
Fantastic book! Great introduction to some of the current misunderstandings about the Bible.
Format: Kindle
As a believer, I have wrestled with the issue of why I trust the Bible to be God’s defining word. After all, simply saying that I have faith in God and Jesus and therefore the Bible must be true creates an ever-tightening inward spiral based on nothing more than a belief that it’s true. Probably not the best standard to be waiving. Why I Trust The Bible by Dr. William Mounce answers not only this question, but also whether or not Jesus was real and why the different Bible translations are so different.
We live in an age where we are bombarded with half-truths and deceptions by purported experts whose only requirement is to have a YouTube page. The Bible is no more immune from these barrages of untested and ill-researched ideas than is science or politics, but the stakes are higher. While many refute the authenticity and truthfulness of the Bible, one name stands out among the rest: Bart Ehrman. He seems to be very good at nuancing just the right word to cause a reaction in support of his unfounded claims. Fortunately Dr. Mounce is superb at refuting the often-ridiculous claims as well as correcting minor misunderstandings. What I especially liked about Why I Trust The Bible was the way Dr. Mounce not only disproved the inaccuracies touted by Ehrman, but revealed the underlying false premises and sensationalist comments that Ehrman uses. Dr. Mounce’s corrective approach was very helpful.
Why I Trust The Bible easily counters the common claims and misrepresentations against the Bible’s inspiration. If you want to understand the background of how and why our Bible is accurate, real, truthful, and God’s inspired word, this resource is for you. Dr. Mounce systematically addresses key issues originating from contradictory arguments presented by unbelievers while at the same time answers questions many believers have about their Bible. I especially appreciated the way Dr. Mounce included enough material for each section so that I was able to understand the issue without feeling overburdened. It is an enjoyable read: comprehensive and coherent.
This book opens by evaluating the reality of Jesus, then moves to dismantle common criticisms against the Bible, examines the processes and decisions necessary when translating from the original languages into English, and finishes by addressing some of the perceived claims against the nature of God. While these issues tend to be technical, Dr. Mounce expertly navigates the waters to keep the reader engaged as he addresses the Bible’s history, fundamentals of textual criticism, and interpretative and translation principles. Whether you begin this book with a blank slate in these areas or already understand these issues, the book will fill the gaps.
Too often people confuse their faith in the Bible with how faith (in any proposition) reinforces beliefs and closes one’s mind to other possibilities. Much of what we believe is actually an outgrowth from our paradigms. Dr. Mounce points out that we all have faith-beliefs. For example, if I believe God is able to alter the laws of nature to perform a miracle, then that is my faith-belief. But if I believe there is no God or that miracles cannot happen, then that is also my faith belief. We each assess everything by our paradigms. Although we live in a world that seeks to accept every idea as a relative truth, only one of these propositions can be correct; in the case of miracles, they can either happen or they cannot. One thing that stood out was the tendency for the non-believers to try to make the believer prove them wrong. Dr. Mounce flips the script and places the onus on the non-believer to prove that miracles can happen. He can do that because through his systematic approach to answer the critical questions about the Bible, he shows that it is not a work of fiction and that the events in the Bible were not late additions or were not the result of conspiracies perpetrated by a cabal of nefarious theologians of the past. His book documents the veracity and reliability of the Bible that we now have, and while we may not have the first-edition autographed copy, we are confident we have what the original authors wrote.
There are some who attempt to use the faith-belief premise as an argument against the truthfulness and accuracy or our Bible, but that is the wrong approach because it does not accurately represent the stalemate that exists between believers and non-believers. The problem is much deeper and is more centered on the belief that just because we don’t have the original documents, and that because there are too many discrepancies in the Bible itself, that it is untrustworthy. These are unfounded or inaccurate statements which are not backed by any facts, but are simply distortions, untested by any historic or scientific means. Why I Trust The Bible breaks through the unfounded arguments against authenticity by providing the documentation and proof that it is real, that what it says happened actually did happen, and that those who so diligently protected the text for us through the many generations did so with the utmost respect for God and his word. Yes there are what appear on the surface to be discrepancies. Yes there are variants between the 5,600 plus manuscripts (less than 1/10 of 1 percent even warrant further research). But Dr. Mounce shows how it is not the number of textual differences that matter, but whether or not the differences are significant in any way that they alter the basic understanding of God, Jesus, or salvation. He guides the reader in understanding that although there seems to be a lot of discrepancies, only a small number are viable; they do not alter any truth in the Bible. He proves that, “there is not a single viable variant that calls into question any point of biblical theology, major or minor.”
This book is an excellent choice for anyone wanting to understand how we got our Bible, why we can trust it to be true, that it is the faithful word of God, and how Bible translators struggle with real issues relevant to helping us understand what God said. I have many of the resources listed in the footnotes of this book and have studied these issues in the past, but as in most books I read, I discover new insights and information. This book is not just for the person beginning this study, but is applicable for even those who have studied these concepts. If you don’t have the foundation necessary to believe that the Bible we now have “is the very words of God” or want to learn more about the processes involved in interpreting words and phrases and the various theories of Bible translation, then this is the book for you.
Mike F., MDiv, Theology
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Reviewed in the United States on October 7, 2021
★★★★★ 5
It's Great, but Maybe a Little More on the Topic than Some Might be Ready For
Format: Paperback
Dr. William Mounce's new book, "Why I Trust the Bible: Answers to Real Questions and Doubts People Have About the Bible," is a bit different than his typical work. This book is not specific to learning biblical Greek. Instead, it's a series of arguments for the reliability of the Bible with a much broader audience in mind. Mounce addresses this historicity of Jesus, contradictions in the Bible, how we have the biblical canon, issues of textual criticism, aspect of translation, and how the Old Testament supports our trust in the Bible more than you might think.
"Why I Trust the Bible" is an accessible introduction to a selection of apologetic matters but goes deeper and beyond an introduction. For one seeking to explore these topics--for the first time or deeper study--Mounce does an outstanding job with each of these arguments. Each chapter (corresponding to a question) is well-argued and contains an excellent bibliography of references. Even without any theological knowledge, the book is easy to read, and it stands upon excellent theological study and solid academic work.
While I highly recommend "Why I Trust the Bible," I found the scope of the "questions" and "doubts" limited. As a pastor, there are many questions about the historical Jesus, contradictions, how we got the revelation of God, and issues of translations. Sure. But they often come as more of an attempt to reject the Bible. Mounce's answers are excellent but address the reality of the situation rather than the questioner's heart. It's not something I'd expect to find someone with doubts and totally new to the Bible would pick up this book. Therefore, this book is better suited for the person who handles the questions and doubts of others. It provides the foundation and information to the pastor, Sunday school, teacher, friend, or family member in doubt. "Why I Trust the Bible" is also a helpful book for the seminary student, budding apologists, and preachers of God's Word.
The chapters on textual criticism supply a fantastic framework (complete with charts and history). As we would expect from Bill Mounce, these chapters are a resource every pastor should have on his shelf, ready for when the tough challenges come.
I found the book good and helpful and I have a Doctorate of Ministry and more than a decade of pastoral ministry under my belt. My twelve-year-old son is reading the book and also finding it in formative and helpful (although he also thumbs through my commentaries). My point: there's a little for everyone.
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Reviewed in the United States on September 15, 2021
★★★★★ 5
An excellent, if brief introductory survey of the defense of the reliability of Scripture!
Format: Kindle
“How can you trust the Bible? Didn’t you know there are 400,000 disagreements between all the different copies of the New Testament alone, while there are only 110,000 words in it?”
“The Bible contradicts itself, so it can’t be the Word of God.”
“Church leaders picked and chose what went into the Bible, leaving out books and letters they didn’t agree with, so how can you trust what it teaches?”
“Even the different versions of the Bible disagree with one another, so how can it be reliable?”
“Jesus is more myth than historical figure, cobbled together from a bunch of ancient sources and religions. He’s made up, so can’t be a real savior.”
Skeptical claims like these, and plenty others, are leveled against the Bible ALL. THE. TIME. On social media, in popular media, and in documentaries purporting to give the straight dope about the history surrounding the Word of God. We should not be surprised. After all, the enemies of God hate Him, and hate His Word. However, many Christians lack the ability to refute these claims. Many of us merely shout “nuh uh,” all the while wondering if there really are answers to these claims.
There are answers to these claims, Christian. There is an entire field of study, namely apologetics, which provides a defense of the faith. “Why I Trust the Bible” is a one-stop-shop of introductions to several topics which comprise much of the field of apologetics these days:
- The Historical Jesus
- Contradictions in the Bible
- How We Got the Canon (list of books in the Bible)
- Textual Criticism (making sense of textual discrepancies or variants)
- How Translation Happens
- The Supposed Contradiction of the Old Testament
In “Why I Trust the Bible” Dr. Mounce, renowned Greek language scholar, explains why he trusts the Bible, and why you should too.
As a layperson who has done a lot of study in these areas, I found the this book a great introductory survey of these topics, with a great set of footnotes and bibliography for further reading. Most skeptics tossing out the objections covered are merely repeating talking points, and this book will be more than enough to equip you to answer them. “Why I Trust the Bible” is a great introduction to all of these subjects and can provide a great foundation for further study into any and all of them.
If you have studied any of these subjects in greater depth, you may find Mounce’s treatment of them entirely too brief, but for someone who is new to apologetics and specifically the reliability of the Bible, this book is an excellent choice!
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Reviewed in the United States on September 15, 2021
★★★★★ 4
Using this one for a special study in our church.
Format: Paperback
This is a very scholarly book, but the author seeks to simplify it a bit for the reader. This book is written to respond to Biblical skeptics and answers many of the challenges those folks have for skeptics. Very well researched and very well written.
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Reviewed in the United States on October 28, 2024