rudder pedals are also connected to the steering,but with a limited deviation compared to tiller's. So ,from 20 to 60 kts,control the forward wheel with your legs,then the rudder become efective,controlled also with your legs.
I don't know about the 747,but I know there are planes where the rudder pedals are not connected with the fdw wheel,the ATR for instance,hence the need to use the tiller at higher speeds.