Source : Webster's Revised Unabridged Dictionary (1913)

Canter \Can"ter\, v. i. [imp. & p. p. {Cantered}; p. pr. & vb.
   n. {Cantering}.]
   To move in a canter.

Source : WordNet®

cantering
     adj : riding at a gait between a trot and a gallop; "the cantering
           soldiers"