A carriage incorporating an articulated caster braking system is disclosed. The carriage includes a frame with a base section that pivots relative to the rest of the frame and pivotally attaches to caster wheels. The base section provides a walking-beam suspension for the frame by pivoting at a point between a pair of the caster wheels. The carriage also includes a brake assembly that is attached to the frame and restricts carriage movement by directly engaging the ground. The brake assembly includes a brake arm that engages the ground and redundant actuators for shifting the brake arm between engaged and disengaged positions.