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From: Japanese-English Electronic Dictionary 和英電子辞書

 ぴょこぴょこ
 adverb taking the `to' particle
 onomatopoeic or mimetic word
 up and down
 lightly
 nimbly
 moving in small leaps as a frog or rabbit
 see: ひょいひょい・2
 onomatopoeic or mimetic word
 casually
 (strolling about) without a care