How to stop crab walking

Greetings,

I have an RWD Sakura D4, I just ordered an aluminum steering rack from 3Racing, but in the meantime I am trying to understand and remove the "crab walk" that the car is currently exhibiting.

I understand that the crab walking is a result of bad ackerman angles.

I consulted this blog post and posed a question at the bottom:
http://www.bigsquidrc.com/continental-dr...tech-talk/

In short what causes crab walking? Is it due to the leading wheel (say your turned right, the right wheel is leading, and the left is trailing) have a greater angle than the trailing wheel?

Thanks very much for any assistance.

Gunnar