2026
Systematic Characterization of Drilling Parameters in Concentric Tube Steerable Drilling Robots: A Comparative Study
Daniyal Maroufi, Yash Kulkarni, Vibhu Kanna Rajesh Kanna, Jordan P. Amadio, Mohsen Khadem, Justin E. Bird +2
ICRA 2026poster
To establish a foundational understanding for creating J-shaped trajectories with Concentric Tube Steerable Drilling Robots (CT-SDRs), this paper presents a systematic characterization of two operational factors: drill feed rate and rotational speed. We developed and compared a custom High-Speed Dri…