In future space missions, robots will assist human explorers by working alongside astronauts during crewed missions, working independently during uncrewed periods, and remotely supporting Earth-based mission control. The ICSR Workshop on Human Robot Interaction for Space Robotics will bring together roboticists working in academia, industry, and government to identify the key scientific questions that must be answered to enable effective human-robot interaction (HRI) in space contexts. This workshop seeks to bring together researchers employing diverse methods to enable these capabilities, with a focus on the development of tools and techniques that allow humans to operate effectively with robot teammates, especially HRI methods that enable both astronauts and mission controllers to communicate clearly with robots about their capabilities, intent, state, and accomplishments, and that enable human-robot teams to coordinate and collaborate to solve problems that exceed the autonomous capabilities of robots.