Dotty-the-Dog and I head to the front door several times during the day (ie: Commercials on TV, between chores) and when she gets outside she either takes off down the drive or "bows" to me the way dogs do--Taking off means a brisk walk around our long driveway. "Bowing" means I 'have to fast jog! It's amazing how often she "bows". I get my 1/8 mile jog and so does Dotty! Several times a day!
No equipment necessary unless it's bad weather!