I would like to clear up a misunderstanding among some of the posters.
It is permissible to touch (laga’as) something that is muktzah. Touching a dog is therefore permissible. What is not permissible is to pick up muktzah or move it in the manner that it is generally moved (tiltul). There are certain types of indirect moving (tiltul min hatzad) that are permissible in certain situations. So too there are situations when one can move something that is muktzah. But touching is permissible for any muktzah.