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