Freely chosen pedalling rate during cycling represents a voluntary rhythmic movement. It is unclear to what extent this is influenced by internal (e.g. loading on the cardiopulmonary system) and external (e.g. mechanical loading) conditions. It is also unclear just how robust a voluntary motor rhythm, the freely chosen pedalling rate, actually is. The present study investigated (N = 8) whether or not the freely chosen pedalling rate during submaximal cycling was affected by separate increases in loading on the cardiopulmonary system (changed by exposure to acute simulated altitude of 3,000 m above sea level) and mechanical loading (changed by exposure to increased power output and thereby pedal force). We also investigated (N = 7) whether or not the freely chosen pedalling rate and another voluntary motor rhythm, unimanual unloaded index finger tapping rate, shared common characteristics of steadiness and individuality over a 12-week period. Results showed that the freely chosen pedalling rate was unaffected by increased loading on the cardiopulmonary system at constant mechanical loading, and vice versa. Further, the pedalling rate was steady in the longitudinal perspective (as was the tapping rate), and like tapping rate, pedalling rate was highly individual. In total this indicated that freely chosen pedalling rate primarily is a robust innate voluntary motor rhythm, likely under primary influence of central pattern generators that again are minimally affected by internal and external conditions during submaximal cycling.