An undercarriage comprising at least: a wheel mounted on an axle (3); a brake comprising a torsion tube (9), friction members (11) mounted around the torsion tube, and at least one brake actuator (13) for selectively exerting a braking force on the friction members; and drive means for driving rotation of the wheel and comprising an electric motor (14) that is connected to a rim (5) of the wheel (4) by a coupler member (15). The coupler member extends at least in part around the axle (3) between the axle and the torsion tube (9) of the brake.