Many Robot Chicken personnel were involved, but you'd never know it from those clips. They would have been better off doing it as an RC spinoff instead of grotesque CGI caricatures that makes the HS cartoon Han Solo look good.
The whole idea of Lucasfilm sanctioned parody seems at odds with the very concept of parody to begin with. You don't see Mad Magazine asking permission to lampoon anything.
How far we've come since the days when Fox actually wanted to sue over Hardware Wars.
Lucas talked them out of it, thankfully.