Apparatus for eliminating net drill bit torque and controlling drill bit walk

A drilling apparatus for controlling drill bit torque during a well drilling operation comprising:

• a thrust module providing axial thrust force;
• a rotary coupling connected to the thrust module and a drilling module, wherein the rotary coupling comprises a rotary encoder operable to determine a relative rotation angle between the thrust module and the drilling module;
• the drilling module connected to the rotary coupling to receive thrust from the thrust module and to receive signals from the rotary encoder indicative of relative rotation angle between the drilling module and the thrust module, wherein the drilling module comprises a drill bit divided into an outer drill bit and an inner drill bit, the inner and outer drill bits connected to a power unit operable to drive the inner and outer drill bits in opposite directions simultaneously;
• and
• a control module connected to the power unit and operable to control a relative rotational velocity of the inner and outer drill bit.