The work described here takes place in the FP6-EC Robot@CWE (CWE stands for “Collaborative Working Environment”) project. Two main issues are addressed in this paper: the first one is about the nature and suitability of Human-Robot (HR) collaborative tasks in such a Moon settlement setup (section 2), and the second one describes an HR interaction design model and evaluation framework (section 3) that will be applied in this project. Section 4 introduces the experimentation setup that tests the HR interactions paradigms in a space exploration scenario. Finally conclusions are provided in section 5, and acknowledgments in section 6.