Thanks for the answers so far. I had a glance at the IK Setup, that might be what I need.
Next step is how to setup the collision stuff. I am not sure whether to use a pawn or a character for the wolf. As well how to setup the collider when I chose to use character.
The capsule doesnt fit very well around the wolf. I was thinking about using 2 capsules, but it seems like the collision of all other then the root capsule are ignored by the engine.
Any ideas?