Horses don't "skip" but they trot which would be the closest thing to a skip. Trotting is sort of like a skip, it is a speed faster than the walk or a little faster than a jog if you have one. When you trot, the horse moves back and forth quickly, which makes you post. Posting is a way of riding to help the horse's back. You move up amd down in thecar saddle along with the beat of the gait.
To add to the above post a 'skip' can refer to a old bucket or pan used to catch debris that have been picked out of a horses hooves, this term is used in Europe and the UK mostly.
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