Wheel assembly for a vehicle includes a wheel, at least one lower suspension link and an upper attachment joint, both being able to be attached to the vehicle, the wheel being able to rotate at 360° to steer the vehicle around a pivot line positioned by said at least one lower suspension link and said upper attachment joint once attached to the vehicle, a projection of the pivot line onto a vertical projection plane comprising a vertical axis passing through a contact point between the wheel and ground defining a caster angle with said vertical axis. The caster angle can be adjusted within a predetermined range, whatever the orientation of the projection plane. A distance between the upper attachment point and the contact point between the wheel and ground in relation to the adjusted caster angle can be adjusted.