A method comprising: depositing a filament on a surface of a supporting structure along a target path ; and tamping the filament onto the supporting structure with a wheel by steering the wheel along the filament; wherein the wheel comprises: (i) a pitch axis around which the wheel is substantially symmetric; and (ii) a circumferential surface that comprises: (ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and (ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and (iii) a yaw axis that: (iii-a) is perpendicular to the pitch axis, and (iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and (iii-c) intersects the pinch line segment; and (iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and characterized in that steering the wheel comprises moving the wheel so that the yaw axis intersects and advances along the target path. depositing a filament on a surface of a supporting structure along a target path ; and tamping the filament onto the supporting structure with a wheel by steering the wheel along the filament; wherein the wheel comprises: (i) a pitch axis around which the wheel is substantially symmetric; and (ii) a circumferential surface that comprises: (ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and (ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and (iii) a yaw axis that: (iii-a) is perpendicular to the pitch axis, and (iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and (iii-c) intersects the pinch line segment; and (iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and (i) a pitch axis around which the wheel is substantially symmetric; and (ii) a circumferential surface that comprises: (ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and (ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and (ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and (ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and (iii) a yaw axis that: (iii-a) is perpendicular to the pitch axis, and (iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and (iii-c) intersects the pinch line segment; and (iii-a) is perpendicular to the pitch axis, and (iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and (iii-c) intersects the pinch line segment; and (iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and characterized in that steering the wheel comprises moving the wheel so that the yaw axis intersects and advances along the target path. <EOS>