i think perhaps that it may not be too far if your walking at a leisurely pace and i think it comes to a point where you have to say enough is enough and force the dog to walk, ive seen a few dogs who wont walk just coz they can get away with it, (though these have been SWFs) i think you just need to show the pup that not walking is not acceptable, of course making sure that it is not harmful to your gorgeous baby.
encourage your pup to walk with your voice, light happy words (you can say anything even 'walk ya lazy git' if it makes you feel better haha) as long as it sounds bright and happy, even take treats or a toy that will encourage your pup to follow because its more exciting then your kids
"In order to really enjoy a dog, one doesn't merely try to train him to be semihuman. The point of it is to open oneself to the possibility of becoming partly a dog." - Edward Hoagland