The electro-mechanic steering assembly of the ROboMObil is a complex system consisting of a permanent magnet synchronous motor (PMSM), a strain wave gear (Harmonic Drive) and a spur gear. The system facilitates high steering angle rates. In order to improve the model-based controllers, drivetrain stiffness and mechanical play need to be considered during system modelling. Concerning the matter of system identification and validation a steering test bench was constructed in cooperation with the Munich University of Applied Sciences. It is composed of the same steering actuator assembly and the corresponding power electronics as in the Wheel Robot. Additional weights mimic the Wheel Robot’s rotational inertia and a powerful linear actuator simulates the tire contact forces. High-resolution angle, position and force sensors create the basis for model validation and fault tolerant control strategies.