This model can be used in a simple way
Just drag the Control Bones in pincers, legs and body.
The controls of the legs are restricted by the floor.

POLYCOUNT
Verts: 10,999
Faces: 11,001
Triangles: 21,750

Subdivided with Multires Modifier
Verts: 175,432
Faces: 174,993
Triangles: 349,986