The original sculpture by Guido Mazzoni (1507) was destroyed during the revolution. Seurre made this sculpture based upon drawings to replace the original in 1857.
The horse lifting his two right legs at the same time was considered to be a mistake. The story even goes that the sculptor committed suicide because of this, but there is no evidence whatever for that. Moreover it seems to be possible for horses to walk in this way, in particular if they are ridden by an amazon.