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Going for a walk is "sanpo ni iku", right? Would taking my dog for a walk be "inu no" or "ino o sanpo ikimas"? And then I just add the "ichi jikan" in the beginning.

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It's the particle を ((w)o) you're looking for to talk about the dog, that you're taking on a walk (marked with the particle に (ni)). To take someone along, you use 連れて行く (tsurete iku).

In the ~ます form, this is one potential answer to your question.

[一時間]{いちじかん}[犬]{いぬ}を[散歩]{さんぽ}に[連]{つ}れて[行]{い}きます。

ichijikan inu (w)o sanpo ni tsurete ikimasu.

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