Figure 1. Relationship between velocity and locomotor energy expenditure.

The equations for mammals (blue line) and primates (red line) are from Taylor and colleagues (1982); the ACSM equations for human walking (green line) and running (green dashed line) are from the ACSM handbook [20]; the curvilinear human walking equation (green dotted line) is from Pandolf and colleagues [16]. All calculations assumed a body mass of 70 kg.