Dual‐arm collaborative manipulation requires precise force control to ensure both task accuracy and workpiece safety. Traditional single‐channel impedance controllers struggle to decouple internal and external force behaviors and cannot adapt their interaction dynamics online when workpiece compliance or contact conditions vary. This paper introduces a dual‐channel adaptive impedance control algorithm with a leveling module to overcome these limitations. First, a dual‐channel architecture is proposed that independently adapts virtual stiffness and damping gains based on measured internal force errors, protecting the workpiece from over‐compression. Second, an external‐force leveling module is designed to monitor residual force imbalances and apply corrective adjustments to maintain stable, balanced operation of the workpiece. Finally, the effectiveness of the proposed method is validated through simulation studies. The results demonstrate that our approach achieves faster convergence, lower steady‐state force‐tracking errors, and enhanced robustness under varying disturbance and complex contact scenarios compared to conventional single‐channel and normal impedance controllers.