One of the methods of teaching a dog to operate it's rear legs
independently for agility is to walk it through the full length of a
ladder laid on the ground. Not an A-frame household ladder, but an
extention ladder closed up, so the dog has to really pick up it's legs.
Feet must stay inside the ladder.... Then teach the dog to do it in
reverse gear. Both can be hilarious to watch. Be generous with treats
on the ground, not in your hands.

Jo Wolf
Martinez, Georgia