The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{circ}$, $9.22^{circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.