the.com/canter

The gait a horse uses when trotting feels beneath it and galloping feels unhinged.

means A smooth, three-beat horse gait that's faster than a trot but slower and more controlled than a full gallop.

from Short for 'Canterbury gallop' or 'Canterbury pace' — the easy, rhythmic lope that medieval pilgrims were said to ride on their way to Thomas Becket's shrine in Canterbury. Chaucer's pilgrims gave the route its fame, and the gentle, unhurried pace horses kept along it gave the gait its name, later clipped down to just 'canter.'

origin
Short for Canterbury gallop, pilgrims' unhurried pace
speed
Roughly 10-17 mph, faster than trot, slower than gallop
footfall pattern
Three-beat gait, one hoof always lands alone
rider feel
Smoother rock than trot, less bounce, more glide
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