Previous work demonstrated that adults naturally adopt a walking frequ
ency to optimize physiological cost, symmetry, and stability. Furtherm
ore, the optimal frequency is predictable using the force-driven harmo
nic oscillator (FDHO) model. However, no studies have established the
developmental processes of optimization in children. Thus, the purpose
s of this study were to examine the predictability of the preferred st
ride frequency (PSF) and optimization features of 3- to 12-yr-old chil
dren using the FDHO model. Forty-five children and nine adults were me
asured for anthropometric data to calculate the predicted frequency. T
hey later walked at three frequencies (PSF, PSF +25%, and PSF -25%) at
a constant speed on a treadmill. The results indicated that the FDHO
model was accurate in predicting the preferred frequency of children (
prediction error < 0.07 s). We identified three stages of learning in
the development of optimization: an early manifestation of sensitivity
to resonant frequency, the subsequent development of ability to modul
ate walking frequency, and the final establishment of an adult optimiz
ation form at age seven. Our findings suggest that walking development
may be determined by the dynamic cooperation of physiological, neural
, and musculoskeletal systems with respect to the environmental contex
t.