I found this page brimming with details on hiking and backpacking with dogs. It explains that the strongest breeds are slow walkers, and that hiking won’t necessarily ruin a dogs hips. It has tips on dog first aid, on whether to keep your pooch on a leash, on … well, it’s just all in there.
The site is called Uberpest’s Journal, and it’s so run rampant with hiking-related stuff that I’m a bit shame-faced at having discovered it only just now. (Funny how Google is the answer to all your online needs, except when it isn’t.)