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Arthashastra

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siva.sh/arthashastra/adhyaksa-pracara/30/41

विक्रमो वल्गितम् उपकण्ठम् उपजवो जवश् च धाराः ॥

Trotting according to strength (vikrama), trot combined with circular movement (valgita), ordinary trot (upakantha), middlemost speed (upajava), and ordinary speed are also the several kinds of trot (dhárá).

english translation

Chapter 30

Verse 42