Any idea on this story line


I am looking for the title of a book I read a while ago - classic or at least old school sci fi. This must be pretty obscure and perhaps a little bit of a long shot but here goes.............also details although scanty may be distorted!!!!

Story centres around a long range history of a family ( thousands of years). The common thread is a robot and there is a bizarre interwoven dog evolution thing going on.
I seem to recall each chapter is a new family generation. Book was fairly old (1960's or 70's for a guess)

Well, if it rings any bells then thanks in advance,