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canter a horse's gait between a trot and a gallop. [1/2 definitions]
gait The gait of a person or animal is the way they walk or run.
lope to trot or run gracefully and easily with long steps; to ride a horse at this gait. [1/2 definitions]
trot the gait of an animal with four legs in which the left front leg moves at the same time as the right hind leg, and the right front leg moves at the same time as the left back leg. [2/4 definitions]