Have you ever had a bird you can take out of the cage without fly away?

My cockatiel does have a cage for sleeping and for security when I'm not home, but I let him out whenever I'm home and awake. He spends about 90% of that time on my shoulder. I've never tried taking him outside for a walk though, because I have to walk very slowly when he's on me or he loses his balance and falls off. (He's clumsy and not a good flier). I often take him with me to family gatherings, and he does seem to enjoy sitting on other people as well. I don't know if there's any real trick - I think he just likes being around people (or he likes sitting on warm shoulders). He's a rescue though, so that might have something to do with it.