The development of technologies involved in human-robot joint exploration including the humanoid robot , tele-operation , man-machine shared control , and ground verification were intro-duced .Then the concept of integrated lunar exploration of astronaut and humanoid robot was studied and the system structure , mode analysis and mission programming of the lunar exploration were pro-posed .In the end , the key technologies such as humanoid robot technology , human-machine syner-gy technology , tele-operation and control technology and ground simulation verification technology were summarized .%介绍了人机联合探测中涉及的类人机器人、遥操作、人机共享控制、地面验证等技术发展现状；对月面类人机器人与航天员联合探测的概念进行了初步研究，规划出了月面人机联合探测系统结构、探测模式和探测任务等；并对类人机器人技术、人机协同操作技术、遥操作控制技术和地面仿真验证技术等关键技术进行了总结。
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