The master and his scholars were called Peripatetics (ol Ert Tov 7reptlredrov), certainly from meeting, like other philosophical schools, in a walk (7repL7raros), and perhaps also, on the authority of Hermippus of Smyrna, from walking and talking there, like Protagora s s and his followers as described in Plato's Protagoras (314 E, 315 e).
This way you and your dog can sneak in a walk if you are in an area that looks inviting or you have a few spare minutes.
If you are trying to squeeze in a walk through Muir Woods, a trip to Alcatraz, a Wine Country tour, a Giants game and San Francisco all in 2-3 days you will too tuckered out to pack to go home.