Preservation and benefit of goods of Cultural Heritage need careful activity of survey and restoration that can be understood as service tasks for suitable robotic systems. New service robots can be conceived once the specificity of the application in Cultural Heritage area for architectural goods is carefully considered both with technical aspects and from operators viewpoints. In particular, in this chapter no technical aspects are also discussed as fundamental for the acceptance and use by no-technical operators in the new field of service robot application for survey and restoration of architectonic goods of Cultural Heritage value. Examples are illustrated from authors’ experience with the aim to stress the problems and challenges in applications for service robotic systems in Cultural Heritage frames. Keywords: Service Robots, Cultural Heritage, Robot Design, Architectural Survey, Service Tasks, Restoration Activities.