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In recent years, robotics has been largely applied to improve the efficiency of logistic processes. Pallets cover a crucial role in the logistic flow, since they represent the main way to store and ship items. When put onto pallets, the items are wrapped with plastic films to protect them and prevent them from falling. Despite being the first and necessary operation for handling the stacked goods, unwrapping—the task of removing the plastic films wrapped around the goods—has not yet been satisfactorily automated. We propose the first robotic solution for autonomous unwrapping of generally shaped pallets, including both homogeneous and heterogeneous pallets. Force and torque measurements are exploited to retrieve information on the collisions between the end-effector and the wrapped items or the plastic film. Based on the contact information, we design a novel reactive planning strategy that makes the …