There can be a slight or subtle difference in usage between the two, but in conversation that difference is most often discarded and the 2 words are interchanged.
'Typically' is sometimes used when you are making reference to a 'type' or 'class'.
'Typically, kids hate doing chores'. Here 'kids' is a class of people/objects. I'm making the statement that this 'class' (kids) most often hate doing chores.
'Typically, criminals are idiots and always get caught'. I'm referring to the 'class'/'type' of people (criminals) and I'm saying this class/type/group are most often idiots.
Now, in the above examples I could replace 'typically' with 'usually'. Meaning will remain the same, but I am not 'stereotyping' or generalising as much about a particular class/group/type.
For instance, if I say "Usually, criminals are idiots" then I am *just* saying "More often criminals are idiots". If I used 'typically', I am saying this stupidity is symbolic of all criminals.