Did my dog have a seizure?

This morning I was sitting on my couch and my dog was on the floor in his little bed (he's a toy poodle). All of a sudden he steps out of his bed and starts to tremble and wobble as he tries to walk. Also, he pulled his front paws in toward his body and kept them there. I picked him up because he came over to me like "help me mommy" but he couldn't jump on the couch. I held him and he trembled. I put him down to see if he could walk, but he was very wobbly on his feet. Whenever he sees me put on my shoes he thinks it's time for a walk, and when he saw me put on my flip flops, he got excited and seemed to go right back to normal. I watched him walk around the house and he seemed fine. We went for our morning walk and he was perfectly normal. What do you think happened to him? My only guess is a seizure. Please help me out with this. Thanks in advance.