I owe the IRS way more than I can afford to pay back. I haven't worked since 2004 and have a meager income, actually its welfare. What can I do, I can't afford to pay the steep penalties?

Are all of the years that needed to be filed, filed and you just owe them.
You always want to file even if you can't pay.

Have you looked into trying to work out a payment plan with them often at a reduced rate.

Why have you not worked ?