论文标题
基于能力的工业机器人技能框架：调查
Capability-based Frameworks for Industrial Robot Skills: a Survey
论文作者
论文摘要
在描述机器人的功能时，研究界充满了技能，动作，原子单位和其他人等单词。但是，要赋予在工业场景中整合能力的可能性，必须对这些描述进行标准化。这项工作使用结构化的审查方法来确定机器人技能框架研究界的共同点和差异。通过这种方法，分析了210篇论文，并获得了三个主要结果。首先，绝大多数作者都同意基于任务，技能和原始的分类法。其次，调查最多的机器人的功能是选择和地点。第三，以工业为导向的应用程序更多地集中于具有固定参数的简单机器人的功能，同时确保安全方面。因此，这项工作强调，未来的工作应使用基于任务，技能和基础的分类法来与现有文献保持一致。此外，在确保安全性的同时，需要在工业领域中进行进一步的研究。
The research community is puzzled with words like skill, action, atomic unit and others when describing robots' capabilities. However, for giving the possibility to integrate capabilities in industrial scenarios, a standardization of these descriptions is necessary. This work uses a structured review approach to identify commonalities and differences in the research community of robots' skill frameworks. Through this method, 210 papers were analyzed and three main results were obtained. First, the vast majority of authors agree on a taxonomy based on task, skill and primitive. Second, the most investigated robots' capabilities are pick and place. Third, industrial oriented applications focus more on simple robots' capabilities with fixed parameters while ensuring safety aspects. Therefore, this work emphasizes that a taxonomy based on task, skill and primitives should be used by future works to align with existing literature. Moreover, further research is needed in the industrial domain for parametric robots' capabilities while ensuring safety.
