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Over the past four decades, many space robot engineering applications and technology verifications for OOS have been accomplished. This article comprehensively reviews the advances by representative space robotic programs on space shuttles, outside\/inside the International Space Station and the China Space Station, as well as on satellites, and the development trends of space robots are summarized. In addition, the primary key technologies and challenges are explored, including the following: 1) visual perception for noncooperative targets; 2) motion planning and control with a free\u2010floating base and flexibility; 3) multifunctional end\u2010effectors; 4) ground teleoperation with long time delays; and 5) high\u2010fidelity ground verification. 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