Just thought I'd chime in on the side of those who think this sentence construction is not incorrect, but just rare. I interpret it as follows:
In the "if" clause, "will" is used in it's original (old-fashioned, if you like) sense of "to be willing", while in the main clause it represents the future tense. So the sentence is saying:
"If you
are willing to walk the dog, I will make the dinner."
You could formulate the sentence as a request instead of an "if" sentence like this:
"Will you walk the dog, please? I'll make the dinner."
You can also use it in this way:
If you
will insist on sitting in the sun all day, don't be surprised when you get burned.
If you
will keep on asking the same question over and over again, the moderators are going to get very angry.
In these last two sentences "will" doesn't represent the future form, but is a way of saying "if you choose to..." When spoken, the "will" would be emphasised as a way of illustrating the speaker's frustration.