Abstract: In this paper, we deal with motion and force control methods for coordination of two robot manipulators, which grasp a rigid object tightly in the presence of environment constraints. Based on the definition of a group of object-oriented generalized workspace motion and force vectors, the object-oriented dynamic equations for dual-arm coordination which take object dynamics into account are derived. The relationships of object motion, internal force, and contact force are explicitly presented in these equations. Next, a hybrid control algorithm for dual-arm symmetric coordination is designed. Decomposition and parallel realizations of the algorithm are also considered. Finally, some experiments and their results are given. The experimental results show that this method is useful to motion and force control for dual-arm coordination.