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There is dog walking and there is taking a dog with you for a walk.
The first should allow a dog a lot of leeway to be able to use his/her scent capabilities and utilise their mental abilities to recognise different smells and to be able to conjure up 'pictures' in their minds of the scents and who/whay left them there. It is said that a dog expends more energy in using (when allowed) their scent capabilities than they do physically walking/trotting. All this can be done within reason - but not to pull away the dog at every smell they want to investigate. He also wishes to leave his mark at various strategic places - especially in retracing over regular routes. This I call my Corgi's time for giving him attention on his walk/run.
The second is the more controlled walk because the handler is trying to get somewhere quickly and will therefore give only cursory allowance to the dog.
If a dog grabs at his/her leash, the way forward is the same as for most other training aspects- praise/reward for correct behaviour after clearly receiving instructions by voice and by gestering what is not acceptable. The same with heeling. I strongly recommend that everyone trains a dog to heel equally on left or right.
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