Starting at about 6, my dog makes a series of strategic moves in bed. He goes from curled up sleeping to slithering out, grunting for food. This process is about 40 minutes in length and if I or the wife happen to move "correctly" he about leaps out of bed.

Dude's 60 lbs.

If we're lucky we can coax him back into bed. His eagerness becomes touch and go from there. Sometimes we're not allowed to move, others, he seems to go back to sleep.