My dogs tended to FRAP alone, meaning they would generally take turns. One watching, one running like crazy, and me standing in safety with my back against a wall.
Frapping insentives for Dylan....poached chicken breast chunks in his dinner bowl, boiled hamburger, or hot dog slices.
I don't have hardwood, but my smooth floors have carpet runners. The floor is actually not able to be damaged my dog's nails, the carpets are to give traction & protect the dogs from slipping.