Nobody has mentioned yet, I believe, Cavalier King Charles Spaniels.  Very low in energy, very good lap dogs, and the ones I've encountered have not been very yippy.  Just make sure you get from a reputable breeder, as the couple I've seen from pet stores have had health issues.  I'm also a fan of Papillons 
		
		
	
	
		
	  Probably the only small breed dog I'd ever consider getting!
	
		
			
		
		
	
				
			
	
	
	
	