Walking loads are influenced by various parameters so that they need to be measured considering such parameters. Walking frequency(rate) is experimentally investigated as the most important parameter in determining the walking load expressed with dynamic load factor. This study focuses on the derivation of continuous walking load-time functions at any walking frequency ranging from 1.30Hz to 2.70Hz. Experiments were conducted to obtain time-histories of walking loads at the increment of 0.1Hz, which are decomposed into harmonic loads by the Fourier transformation. The polynomial load-time functions are proposed representing the relationship between harmonic coefficients and walking frequencies, thereby easily formulating walking load-time histories for dynamic load factor with various walking frequencies.