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