This paper proposes a method for controlling an object with arbitrarily smooth surfaces in a horizontal plane by a dual-fingered robots. The proposed control method achieves both (a) the stable grasping with the optimal force angles, in order to lower the probability of the object slipping out of the finger-tips, and (b) the position regulation without visual sensing. The shape of an object is not limited as long as the contact point is positioned in the vicinity of the smooth curvatures since the controller is allowed to use the tactile sensor. We analyze the dynamic stability of the proposed control method via Lyapunov stability theory. Finally, simulation results are presented to validate the proposed control method.