In the croupade, the horse leaps directly upwards, with its body parallel to the ground. This maneuver might be used to avoid an attack and is also a precursor to the far, far more difficult (and famous) capriole.
This Ludwig Koch painting (public domain) shows a horse performing the croupade. I'm struggling to tell whether the dark skinned man behind is a trainer with a whip or whether it's actually a sword he's holding.
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