Lovelock — Orson Scott Card; Kathryn H. Kidd

On the Ark, a human colony ship bound outward across the stars, not everyone is a volunteer.

Lovelock was engineered to be the perfect servant--intelligent, agile, pliant, and devoted to his owner. 'He is a Witness--privileged to spend his days and nights observing the life of one of Earth's most brilliant scientists. Behind his eyes lie digital recording devices. In his heart is the desire to please, not just to avoid the pain his owner can inflict with a word, but because he loves her.

Lovelock is on a voyage he did not choose. What human would consider the feelings of a capuchin monkey, no matter how enhanced? But Lovelock is something special among Witnesses--he's a little smarter than most humans; smart enough to-feel the bonds of slavery, and want freedom.