Yelp has some delightful obsolete meanings, but in its current intransitive use is used mostly of animals.  Tolkien used it for wolves, goblins, and poor Bombur when he was stuck in a spider web.

• 06.012 and we saw the goblins running back yelping.
• 06.058 yelping all round the tree
• 06.064 and yelping,
• 06.064 and fro yelping horribly.
• 06.067 and yelping come up faint from far beneath him.
• 08.089 There was a muffled yelp inside,

“yelp, v.” OED Online. Oxford University Press, March 2015. Web. 19 May 2015.