Walking in Low Gravity

The mechanics of the simple act of walking is basically a pendulum,
our gait is dictated by the speed our centre of gravity swings back
and forth. We are a kind of pendulum but if you put the pendulum
into a lower gravity, you are going to have a slower swing. Without
the encumbrance of a pressure suit, you are going to try to walk
normally, on Mars, Luna or anywhere the apparent gravity is lower
than a full Earth gravity, you are going to either walk very slow or
use a different gait.

Were there ever any studies to look into this? Some of the Apollo astronauts did report that a kind of kangaroo hop seemed more efficient than a normal gate. Of course results outside of pressurized spacesuits may differ.

Regards,
Mike Combs