Air carrier First Officer reports 'Steering Fail' message upon extending the landing gear during approach. After go around and consulting the QRH a normal landing ensues. The aircraft is taxied to the gate using differential braking and thrust.

Narrative

On approach after selecting the gear down we received a Steer Fail Message. The Captain called for a missed approach that was uneventful. After short vectors and running the QRH checklist we made a normal and uneventful landing. On rollout and the subsequent short taxi to the holding pad the Captain discovered he could not control the nosewheel directly with the rudder peddles; however; control of the aircraft was obtained through differential breaking and asymmetrical thrust. After holding in the run-up area and speaking to Maintenance; the message persisted. The decision was made to use differential breaking and continue the taxi to the gate. During the taxi in control of the aircraft was excellent. We monitored the brake temperature and received a taxi clearance with minimal high angle turns to reduce both brake wear and temperature. The flight ended at the gate uneventfully. The QRH briefed us while in flight that the aircraft's nosewheel will be centered and that no other special considerations are required. A mention of the pilot handbook procedure would have aided in crew awareness.