How do I rig multiple pivot points so my object always touches the floor?

Here I have a microphone stand and I would like to rig it so that when I move/rotate the object it doesn’t fall through the ground and rather rolls in either 4 axis like in the picture below

Couldn’t post more photos as I am a new user but I want this to freely move in all 4 axis so it doesnt fall through the ground

I hope to create an armature rig where a character will grab the microphone which will then move the bottom of the Microphone stand. I get how to do that bit after I just don’t know how to create this part first.

Try a Floor bone constraint