I imagine that the neurological circuits underlying these processes are governed by both 2d spacing maps with their brains as…
Animals can move using a regular gait, or an irregular gait. A regular gait means that the steps (however one defines it) occur on a regular interval, however this is not true of irregular gaits. An example of irregular gait is horse galloping. Humans practice a regular gait walking or running. Many scientists believed that irregular gait originated in vertebrate, land animals, however recent studies of sea creatures found that this behavior can be observed in ancient sea animals. Interestingly, evolutionary lines may have lost and regained the ability to travel with an irregular gait over species/time. This shows that irregular gaits may be inspiration for movement mechanisms in a variety of environments.
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not like they taught horses how to run! this is an example of convergent evolution where both sea creatures and horses use the same optimized motion to move efficiently through different media