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.
Ookami inu
oki inu
Dinner is served!!
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.
Kiiroi=yellow Inu=dog
He told the dog, "Heel!" or She tripped on her high-heeled shoe.
You may say 'mesu/me inu,' written: 雌犬
Nora inu 野良犬