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I once designed a ramp to help an older dog get into a dinghy. It could likely be modified to serve for the interior. I don't have it - or the dog - any more, so I'll describe it. I used two 10 foot pieces of 2x10 lumber. I cut them into 5 foot sections. I connected them side-by-side with metal straps and screws on one side, and I screwed pieces of 1x2 across them, on the other side, about 12" apart, to serve as "steps." I then placed a couple of 2x4s vertically on the underside to stiffen each of the two ramp sections.
I then laid the two sections on the floor, walking side down, so the vertical 2x4's butted up against each other. I connected the two sections with long strap hinges screwed into the 2x4s. Finally, I screwed flat metal plates on the meeting ends of the 2x10 sections above the hinges to provide a solid bearing for the sections when the ramp is in use. (If you don't do this, you'll get some localized crushing in the wood.) It folded into a package 5 feet long, 10"deep and 18-1/2" wide. I could wrestle it into the starboard cockpit locker when it was folded.
I had holes in the upper end that accepted two hooks for the toerail, and a rod through the 2x4's about halfway to the outer end. The rod ends could be hooked to a bridle, to hoist the ramp with the main halyard. Pull the dinghy under the ramp, lower the ramp to the gunnel, and the dog could easily walk down to the dinghy or come back aboard.
The same ramp might work fine for interior access if you could secure it to the top companionway step, but it woud be very cumbersome to deal with below when it is unfolded. You'd need someone below to help position it.
My answer since then is to have smaller dogs - not too small but not too big. Our last one was 45 pounds. Our latest will grow to be about the same size.
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