I do not believe that a human or humans will ever permanently leave the earth. True, the transition life made from a liquid medium to a gas one was certainly great. But from earth to space and other worlds does not seem biologically possible. We have too much life in us. What could make this transition, however, is something that has lots of death in it, a robot, a man-machine.
A Robonaut (R2B) successfully launched up to the International Space Station on February 24th. R2 is the first humanoid robot in space. Once R2 is unpacked, likely several months from now, it will be initially operated inside the Destiny laboratory for operational testing, but over time, both its territory and its applications could expand. There are no plans to return R2 to Earth.