My cat Widdershins will actually leash walk very well. We sometimes take her out to the local park and walk her on the trails.
That said, she is the strangest cat I have ever owned. My other two cats will not tolerate a harness and leash AT ALL. Result is total shutdown/refusal to move or catatonic jumping/flipping in an attempt to get the thing off.
Widdershins will spend the first few minutes trying to lick it off, but once we put her on the ground, she just starts walking. Even at pet stores. Nothing seems to phase he though, despite that her normal facial expression is one of perplexity.
"No act of kindness, no matter how small, is ever wasted."