3 Legged IK rig?

Does anyone know how to make a 3 legged IK rig where all the legs come from the same point? I’m trying to make a 3 legged robot and I want to be able to keep the legs on the ground while I position the body of the robot. I was able to get a 1 legged IK rig working but I don’t know how to make it work with 3 legs.

There shouldn’t be a problem with adding more IK chains as long as the chains don’t affect common bones. Can you post a screenshot?