biophysics - What would be walking speed in low gravity?

In $1g$ the average adult human walks 4-5 km in an hour. How fast would such a human walk in a low gravity environment such as on the Moon $(0.17g)$ or Titan $(0.14g)$?

Let's ignore the effects of uneven terrain (regolith or ice/snow/sooth); suppose our human walks on hardened pavement.

Answer

This article suggests that the walking speed in lower $g$ environments is indeed less than on 1$g$ environments.

The issue at hand is the work done in raising ones leg in order to move forwards and the loss of energy due to the motion. Quoting the article,

During a walking step, in contrast [to the running step], the centre of mass of the body is lowered during the forward acceleration and raised during the forward deceleration. Therefore the kinetic energy loss can be transformed into a potential energy increase: $ΔE_p = MgS_v$, where $g$ is the acceleration of gravity and $S_v$ is the vertical displacement of the centre of mass within each step.

The potential energy must be equated to the kinetic energy, $$ \Delta E=\frac12M\left(v_2^2-v_1^2\right) $$ where $v_2$ is the maximal velocity of the body in the step and $v_1$ the minimal velocity of the step. If we equate the two changes in energy and assume some median velocity of the body during the step, then $$ v_{med}\sim\sqrt{2gS_v} $$ Since $g$ decreases on the lighter bodies, then $v_{med}$ would necessarily decrease as well.