Apparatus and Method for Tumbling Heavy Blocks Using a Robotic Winch with Multiple Cables

Autonomous systems for control of heavy object tumbling and related methods are generally described. In some embodiments, the autonomous system may include one or more tethers connected to a heavy object, each tether position and location controlled by one or more actuators. The control system may include one or more processors in communication with the actuators to maintain constant quasi-static control of the heavy object during a tumbling process, in which the object is manipulated (e.g., rotated about an axis relative to a supporting surface) to provide access to alternate faces of the object. In some embodiments, the control system may reduce the risk of uncontrollable tumbling by alternating between position and tension control of the tethers depending on the orientation of the object and/or progression of the tumbling process.