The black-and-white humanoid robot, wearing bright red boots, displayed its communication skills in June:
"This may look a small step, but it will be a big stride as a robot," Kirobo told reporters.
"Kirobo will remember Mr Wakata's face so it can recognise him when they reunite up in space," Takahashi had told AFP.
"He will be the first robot to visit the space station."
The robot, which has a wide range of physical motion, will also play a role in some missions, relaying messages from the control room to the astronaut.
Sending the android to space is part of a study aimed at seeing how a non-human companion can provide emotional support for people isolated over long periods.
Back on earth, twin robot Mirata will be on the lookout for any problems encountered by its electronic counterpart, which was inspired by the legendary animation character Astro Boy.
In January, Japan launched two satellites from Tanegashima to strengthen its surveillance capabilities, including keeping a close eye on North Korea after it vowed to launch another nuclear test.
One of them was a radar-equipped unit to complete a system of surveillance satellites that would allow Tokyo to monitor any place in the world at least once a day.
The other was a demonstration satellite to collect data for research and development.
Limited time offer:
Just RM5 per month.
