I don't think there's a special word for pets like "heel" in Japanese. I think what would normally be said is まってて! (mattete) "wait" or とまって! (tomatte) "stop!"
Dog: Inu, 犬
you tell him to heel and say bad dog and use a scooter if need be or a wagon
犬小屋 (inu goya) is "dog house" or "kennel" in Japanese.
赤い犬 (akai inu) would mean "red dog" in Japanese.
Dinner is served!!
oki inu
Ookami inu
In all truth, the word 'the' is left out in Japanese. In order to say 'the cat', you just say neko. As well as to say 'the dog' you just say inu.
He told the dog, "Heel!" or She tripped on her high-heeled shoe.
Kiiroi=yellow Inu=dog
You may say 'mesu/me inu,' written: 雌犬
the heel is 'le talon' in French