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We present a hybrid differential dynamic programming (DDP) algorithm forclosed-loop execution of manipulation primitives with frictional contactswitches. Planning and control of these primitives is challenging as they arehybrid, under-actuated, and stochastic. We address this by developing hybridDDP both to plan finite horizon trajectories with a few contact switches and tocreate linear stabilizing controllers. We evaluate the performance andcomputational cost of our framework in ablations studies for two primitives:planar pushing and planar pivoting. We find that generating pose-to-poseclosed-loop trajectories from most configurations requires only a couple (oneto two) hybrid switches and can be done in reasonable time (one to fiveseconds). We further demonstrate that our controller stabilizes these hybridtrajectories on a real pushing system. A video describing our work can be foundat https://youtu.be/YGSe4cUfq6Q.

Hybrid Differential Dynamic Programming for Planar Manipulation Primitives