Positive and negative streamers are studied in ambient air at 1 bar; they emerge from a needle electrode placed 40mm above a planar electrode. The amplitudes of the applied voltage pulses range from 5 to 96 kV; most pulses have rise times of 30 ns or shorter. Diameters, velocities and energies of the streamers are measured. Two regimes are identified; a low voltage regime where only positive streamers appear and a high voltage regime where both positive and negative streamers exist. Below 5 kV, no streamers emerge. In the range from 5 to 40 kV, positive streamers form, while the negative discharges only form a glowing cloud at the electrode tip, but no streamers. For 5–20 kV, diameters and velocities of the positive streamers have the minim...