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In 1980, The Muppet Show, a primetime event fronted by Kermit the Frog of Sesame Street fame, introduced Luke Skywalker and "cousin" Mark Hamill to the show as guest stars. Along with Luke, C-3PO (Anthony Daniels), Chewbacca (Peter Mayhew) and R2-D2 (himself) also starred, participating in several sketches that included "Star Wars-ified" versions of some of the Muppets.
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Now, as far as Star Wars Muppet crossovers, that was it -- no Kermit as Luke, Fozzie as Chewbacca, Beaker as Threepio, etc. Those incarnations would come, at least in part, three years later in a publication called Muppet Magazine.
For their Summer 1983 issue, Muppet Magazine ran a cover story on movie spoofs, which included "Battle of the Space Heroes", a five-page comic narrative which once again crossed the Muppets with the Star Wars universe. This time, we finally got our Fozzie as Chewbacca (or "Chewbackwards") and Kermit as Luke ("Fluke Shywalker") -- characters also included Miss Piggy as "Princess Loina" and Gonzo as "Barff McVader". And so, short of Beaker as Threepio and Rizzo the Rat as Yoda (both part of the upcoming set of figures), you now have the low-down on how we'll come to inherit a cool set of Muppet Star Wars crossover figures.
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The Star Wars Muppet figures are due out this summer and will be available exclusively at Disney theme parks.
Still need a Star Wars Muppet fix? Check out the exhaustive list of Star Wars Muppet connections over at Muppet Wiki.