The present disclosure relates to a method for controlling a dynamic manipulation of a passive object and/or an interaction with an external environment by a robotic system. The method comprises regulating (S2000) a part of the dynamics of the robotic system subject to kinematic and dynamic constraints, which is transverse to a nominal movement of the robotic system by a feedback controller. The present disclosure also relates to associated methods for motion planning for a robotic system to perform a dynamic manipulation of a passive object and/or an interaction with an external environment and for reconstructing different state or output signals, unavailable in the robotic system from direct measurements such as some coordinates, velocities, constraints, reaction and friction forces and torques in a vicinity of the nominal movement and for analyzing the dynamics of the closed-loop system in a vicinity of the nominal movement.The present disclosure also relates to corresponding computer program products and robotic systems.