This paper discusses grasping and orientation control of an object by dual one-link Timoshenko arms. The control objective is to control the grasping force and the orientation of the object, and to suppress the vibration of the arms at the same time. For this objective, we derive a boundary controller based on the total energy of the system described by a hybrid PDE-ODE model, and asymptotic stability of the closed-loop system is proven by the LaSalle's invariance principle. In addition, numerical simulations are conducted and the results indicate that the derived controller can realise the grasping and orientation control of an object by dual one-link Timoshenko arms.