Stairs or Ramp: Which One Burns More Calories?

In physics, the total energy spent for a person to get from one point on a lower level to another point on a higher level are the same regardless of him using stairs or a ramp. 

However, given that the natural behavior of a person when walking up stairs involves overcompensation where he needs to lift up his leg to have his feet higher than which is required from the surface of the steps (to prevent tripping), walking up a set of stairs will use up more energy than walking up a ramp.