Taking a dog for a walk by its lead and leading a horse more or less require the same things: that the animal in question accepts restraint without fear or frustration; and that they go where their human handler goes.
But why would either dog or horse want to do that? The easiest way to frustrate a dog is put it on a lead and deprive it of its liberty to sniff stuff and interact with other dogs. Horses lose thier liberty too, and often the freedom to flee from fear. And that lead (rope) is not only an infringement of liberty, it's an intrument of pain if it's not used with respect - which all to often it isn't.
Fear, frustration and the potential for pain can be very much reduced if the animal is informed about what to do before the lead is even attached. The animal can learn that sticking close and going where the human goes earns food titbits (or ball games for the dog) that can't be got any other way. If they leave the human's side they get nothing. When the animal gets really good at this the lead can be attached. The potential for large and painful pressures is reduced because the animal already knows what to do. Then it is possible to teach the animal that following, instead of fighting, lead preassures is another way to earn positive reinforcement - as well as the pressure release that would obviously entail.
Dogs and horses can be taught to walk nicely on a loose lead, without fear or frustration, and with no resentment.
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