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 I have found that some horses, seasoned ones,  
there is no difference in heart rate between trot and canter unless they change 
speed or the terrain changes.  Others just do better at one or the 
other gait.   Horses seem to be more athletic with a long forearm 
and short cannon (and the good QHs have this too) but a more upright arm, elbow 
to point of shoulder, often has a better trot.  Need to find out which is 
best for each horse and use it, but still change off part of the 
time.  
  
I find the trot safer and steadier in rougher 
ground.  The horse can stay balanced better.  Over rougher footing I 
don't post, just stay still over the stirrups.  Horse can adapt to ground 
only, doesn't have any extra motion from me. 
  
I will ask younger horses to keep to an easy trot, 
they are less apt to get race fever than at a canter. 
When we are further along I want a canter when the 
footing is good, and try to get both leads alternately. 
My seasoned horses will trot, canter left, trot, 
canter right, pretty much on their own, but have been known to keep sneaking in 
bigger strides with the speed creeping up. <bg> 
  
We're not talking about "walk" here but a big, 
busness like ground covering walk is the hardest to teach and also very 
useful.  And all horses can do it better than we think. 
  
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