cantering

(verb) ride at a canter. Synonyms: canter. Example: "The men cantered away."

(verb) go at a canter, of horses. Synonyms: canter.

(verb) ride at a cantering pace. Synonyms: canter. Example: "He cantered the horse across the meadow."

(adj) riding at a gait between a trot and a gallop. Example: "The cantering soldiers."