The 11th International Conference on Social Robotics (ICSR 2019) was held in Madrid, Spain, during November 26–29, 2019. This book includes the proceedings of the conference, comprising 69 refereed papers, reviewed by the International Program Committee, and presented during the technical sessions of the conference. The ICSR conference series brings together researchers and practitioners working on the interaction between humans and robots and on the integration of robots into our society. Now in its 11th year, ICSR is the leading international forum for researchers in social robotics. ICSR provides researchers and practitioners the opportunity to present and engage in dialogs on the latest progress in the field of social robotics.