This problem was treated with a bit more sophistication by Harvards Lieberman in „A story of the human body“ and the corresponding nature article [0] establishing persistence hunting as an ancestoral hunting technique of homo sapien. See figure 2b for the plot you were looking for. Running faster is less efficient but only slightly so and walking is a U-shaped curve like most mammal gaites. It shows that in contrast…
This is easy to observe for dog lovers. Walk with a medium size (say 50-60 lbs) dog off leash and you'll notice the dog has to choose between a gait that's a little slow for a human walk or a gait that'd be a fast walk for a human -- but you can still match either of those without much trouble. If you choose not to match your walk to the dog's speed, the dog will alternate between the two gaits to roughly match your speed.