Pre-Collision Systems (PCS) for pedestrian crash avoidance have been equipped on certain high-end passenger vehicles. At present, there is not a common evaluation standard to compare the performances of PCS for pedestrian collision avoidance. The Transportation Active Safety Institute (TASI) at Indiana University-Purdue University-Indianapolis has been studying the establishment of such a standard with support from Toyota Motor Corporation. One task surrounding the development of such a standard is the creation of mannequins that move like real pedestrians. To make a mannequin move like a human being, it should have joints at the hip, knee, shoulder and elbow and be able to plan the joint motion trajectories. The mannequins need to have standing, walking or running gestures during PCS evaluation. A cost-effective source of gaiting information is from papers published in the medical field. These papers reported the joint angle measurements of hundreds of human subjects in all age spans. However, most of the results in these papers were based on gender, age, and heuristic motion speeds. They are not directly useable in mannequin motion planning. This paper aggregates and converts the measured gaiting parameters from many publications into functions of walking/running speed for easier mannequin joint trajectory planning. Specifically, we have successfully extracted and aggregated the measured data of hundreds of subjects reported from many medical gaiting and running publications, and presented them as functions of walking speed. The functions include step size, step frequency, maximum hip flexion, maximum hip extension, maximum knee flexion at stance, maximum knee flexion at swing, and their corresponding occurrence time as the percentage time in a step cycle. The result of this study enables the joint trajectory planning for the mannequin to be used at walking and running speeds.