This book constitutes the refereed proceedings of the 11th International Conference on Social Robotics, ICSR 2019, held in Madrid, Spain, in November 2019. The 69 full papers presented were carefully reviewed and selected from 92 submissions. The theme of the 2018 conference is: Friendly Robotics. The papers focus on the following topics: perceptions and expectations of social robots; cognition and social values for social robots; verbal interaction with social robots; social cues and design of social robots; emotional and expressive interaction with social robots; collaborative SR and SR at the workplace; game approaches and applications to HRI; applications in health domain; robots at home and at public spaces; robots in education; technical innovations in social robotics; and privacy and safety of the social robots.