I once heard Dr. Phil say, your child is joining your family, you are not joining theirs. I treat my kids and my dogs the same way. Don't feel bad for giving him a time out. He has to learn the rules of his family. I hate when they bolt from you when you try to pick them up! Put a leash on that boy, make him wear it around the house full time for a while. When he darts away, grab that leash (or step on it!) and reel that boy back in. It has worked with all of my dogs. That's the extent of my advice.
Good luck.