See also Equestrianism Classical dressage Para equestrian Notes References Burns, T. E. Clayton, H. M. (1997) Comparison of the temporal kinematics of the canter pirouette and collected canter .

So just like a diver stands on a springboard and then jumps off it to gain momentum, and then does this pirouette, this two and a half somersault through and then gracefully recovers, this robot is basically doing that.