In this paper, rolling stone model is proposed to analyze the impact of various collision processes on the ground tumbling motion of humanoid robot. The multi-point contact robot model is described as a single rigid body model with multilateral contours by Rolling Stone model. The energy loss of the whole body caused by collision is prone to be measured. The tumbling phases is divided by different contact points. The whole body motion trajectory of each phase is generated by the dynamic trajectory optimizer and constrained by the rolling stone model calculation results. The simulation results demonstrate that the robot can complete the ground tumbling motion under static conditions. The kinetic energy loss calculated by the rolling stone model matches well to the simulation results.