Dexterous manipulation tasks often require contact switching, where fingers make and break
contact with the object. We propose a method that plans trajectories for dexterous
manipulation tasks involving contact switching using contact-implicit trajectory optimization
(CITO) augmented with a high-level discrete contact sequence planner. We first use the high-
level planner to find a sequence of finger contact switches given a desired object trajectory.
With this contact sequence plan, we impose additional constraints in the CITO problem. We …