Player > Feats > Creature Companion Master
Your bond with your companion deepens, allowing it to anticipate your commands.
Creature Companion Expert, Survival 10 ranks.
Each round on your turn, after you act and only if you didn’t grant your creature companion any actions, your creature companion can either take a move action or standard action in addition to its normal move action, or forgo its normal move action and make a full attack. It takes a –6 penalty to full attacks made using this ability. You can control your creature companion at a range of 80 feet.