The ACSM running equation
The American College of Sports Medicine estimates oxygen uptake during running as VO₂ = 0.2 × speed + 0.9 × speed × grade + 3.5, with speed in meters per minute, grade as a fraction, and VO₂ in ml/kg/min. The final 3.5 is resting oxygen use, one MET, the same convention the Compendium of Physical Activities uses for its MET values.
Each litre of oxygen corresponds to about 5 kcal, so gross energy is VO₂ × body mass × 5 kcal per litre × minutes. Net energy removes the resting 3.5 term. On level ground the speed terms cancel per distance, which is why net cost is about 1 kcal per kg per km at any running pace.