विक्रमो भद्राश्वासो भारवाह्य इति मार्गाः ॥ कZ_०२.३०.४० ॥
vikramo bhadrāśvāso bhāravāhya iti mārgāḥ
The (operational) modes are: vikrama, bhadrāśvāsa, and bhāravāhya.
Gaits describe movement patterns; modes categorize practical use-cases (advance, sustained pace, load-bearing) for planning and assignment.