An object information acquisition apparatus, comprises a holding member that holds an object and to be movable relative to the object； a position acquirer that acquires information on a position of the object； a first controller that controls a position of the holding member； a measurement unit that receives acoustic waves from the object； a second controller that controls a position of the measurement unit； an information acquirer that acquires information of the object； and a storage unit that stores history information representing information on a contact state of the holding member with the object, wherein the first controller controls the position of the holding member independently of the control performed by the second controller and adjusts the contact state of the holding member with the object based on the history information.
