  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.
