
As a youngster (around 12 months +) one of ours would occasionally come to a halt, with one of his back legs rigid, extended & muscles rock hard.
Found the way to deal with it was to gently roll him on to his back, leg still extended & gently massage his upper leg till the muscles relaxed & he was happy to get up & move on. His vet & chiropractor at the time suggested he was suffering from cramp (?), didn't yelp but was obviously uncomfortable till I'd spent sometime massaging him.