Giraffe, 6’8"? That have something to do with your nickname? 
Applying general physics knowledge to biometrics problem. Running speed is controlled by two factors - stride length and rate of pumping legs.
The longer your stride, the more ground you cover per step, and thus the faster you get from point A to point B. This generally would indicate the advantage to the taller person, who typically has the longer legs, and thus longer stride. Michael Johnson, the olympic athelete, contributes his speed to his unique running style that is almost reclining. He says it allows his legs to stretch further, and gives him a longer stride. Given his success, some younger runners are now copying his style - I don’t know about their success or not with the technique.
The other factor given was rate of pumping legs. That’s how fast you swing your legs. The faster you swing, the more steps you take in a given amount of time.
Combining the two is a more complicated process. This is complex because what controls the natural pumping speed ability is not fully understood. One major contributer is muscle strength - size and tone. Thus runners work out and get really large thigh and calf muscles that make give them more power. However, natural ability may play a role in the ability to condition your leg strength. Not sure how to quantify that. Some people naturally get bigger, denser muscles than others. I know a few guys with “chicken legs” - they are bony and slim even though they exercise.
purplepuma, regarding your standard walking they are probably right because your natural stride is probably longer than theirs, so though your rate of swing might be the same or even a little slower, the stride length would counter that.
About the energy required… I’m more or less guessing on this part. If we’re talking total energy, you are probably correct, but I don’t think the effective energy is much different. What I mean is, being bigger, your metabolism is geared to handle your energy requirements, and you have to eat more (larger caloric intake) to provide the energy needs. Assuming similar levels of physical activity for each person. So you won’t feel the energy output as more significant. If you did, you would probably reduce your stride rate to something far slower than the shorter people, and I don’t think this is the case. Perhaps you could test that with some of your friends. Have someone comparison measure your stride rate and stride length to various of your friends.
Another factor that comes to mind just now is how hard a person pushes off with their foot. Walking (and running) is the act of pushing with the back foot and landing on the front foot, then shifting weight from back to front as you lift and swing back foot to front, and repeat with the other side. Your forward motion is caused by the push you give the ground. The harder you push, the faster your body moves forward, and thus you either have to cycle your legs faster or lengthen your stride. Running is, in fact, both.
Try this: start walking, then speed up so that you are walking faster and faster, but keeping your stride long. You will reach a point that you cannot cycle your legs any faster and keep the same stride length. You can shorten your step and cycle faster. Or you can start running. In order to run, you have to push off with enough force to get you slightly airborn. With your weight going up into the air, you have more time before you have to place your foot, and more time to complete the leg swing, and the distance between each step is farther apart. The harder you run, the more you are pushing forward and upward - there’s a balance. If you push too much upward, then you are burning energy fighting gravity and having gravity pull you back down rather than pushing forward. But if you don’t get enough lift, your stride doesn’t have enough room.
I think I’m going on and on and going way past the point of your question. I believe the answer you are looking for is buried above, but specifically, you might be burning more energy, but you probably don’t feel any more exertion, and your stride rate is probably similar but your stride length is longer, causing your companions to have to hurry to keep up. Taller people may burn more energy, but they also eat more and their metabolism can handle the extra load.