Humans are actually unusually energy efficient for mammals when walking and even more so when cycling. Here's a little info graphic showing a breakdown.
One thing to keep in mind if you have a dog is they're less energy efficient than humans. While dogs can run faster, a reasonably fit human can easily out distance an equally fit dog when walking or distance running.
It's true. I used to be a red blooded, conservative American, but that all changed when I showed up as a counter protestor at a Tesla dealership. A woman launched herself at my face, pussy first. I ingested some of her pussy juice and got estrogenized. Now I read books for pleasure, treat women like equals, and I became a vegetarian.