Combined rigid body and friction with a plane.

I have a spider-like object in the scene that I'm trying to animate:

My goal is to make it move - e.g. by "tripod movement" - lifting 3 legs, rotate body joints forward, move lifted legs forward, drop, and so on.

This movement requires the tips of the legs to have friction with the plane -- which doesn't happen, as the legs just slide along the plane and the body is left in the exact same position (relative to the plane).

I would greatly appreciate any help with the problem.

Current construction: Plane: Plane with frozen rigid body, box collider, and maximum friction physics material Spider: Set of boxes (box colliders with the same material) grouped by each joint for easy rotation, nested together within a parent object that has a rigidbody attached.