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Is what my dog doing while asleep normal or should I worry?
(reddthat.com)
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I also agree. It sounds like he's just dreaming. My dog used to sprint in his sleep when he was a puppy, which was funny to see. But he also would act exactly as you described.
Something like a seizure would likely be different. My other dog had a seizure once, but it was while he was awake. He slumped over suddenly and shook. He is/was okay, though. It was a weird one-off thing, and after a checkup at the vet, he's been fine for years.