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Try the "Monkey Fist"! http://www.igkt.net/beginners/monkeys-fist.php I've made a few of these in the Navy to use as heaving balls. Now be careful though, because these make hard balls (my dog LOVES chewing on his though) and if thrown at someone (or a pet!) would feel like being hit with a baseball. You can modify it with a few extra turns or some larger rope. I usually use 3/8" rope to make a fist slightly smaller than my own. A marlinespike (http://en.wikipedia.org/wiki/Marlinspike) (I use a long 10" steel tent nail) will assist you with pushing/pulling the last few turns of the rope through the fist to make it good and tight. My favorite tug toy for my dog (Belgian Malinois/Pitbull) is a piece of rope I've fashioned with a monkey fist on each end with a braid between them. He loves it!!!
PLEASE, PLEASE, PLEASE do an instructable showing how to do this with a Double loop!! Just like one of your examples, but with double loops!!
A hemp or cotton rope would not be harmfull if eaten, but cotton wouldnt be as tough.
These toys are great but make sure that after you are finished playing with your dog that you pick up these kinds of toys beacuse if your dog eats the string it can kill him.
It is always a good thing to pick up all toys after playing with your dog.