Design and Evaluation of Affective Expressions of a Zoomorphic Robot -- Exploring the Effect of Explanations during Robot-Guided Emergency Evacuation -- Explainable Agency by Revealing Suboptimality in Child-Robot Learning Scenarios -- HRI Physio Lib: a Software Framework to Support the Integration of Physiological Adaptation in HRI -- Proxemic Reasoning for Group Approach -- Wake up and talk with me! In-the-field study of an autonomous interactive wake up robot -- I Like the Way You Move: A Mixed-Methods Approach for Studying the Effects of Robot Motion on Collaborative Human Robot Interaction -- Effects of Proactive Explanations by Robots on Human-Robot Trust -- Language Learning with Artificial Entities: Effects of an Artificial Tutor's Embodiment and Behavior on Users' Alignment and Evaluation -- An Exploration of Simple Reactive Responses for Conveying Aliveness Using the Haru Robot -- On the Role of Personality and Empathy in Human-Human, Human-Agent, and Human-Robot Mimicry -- Perceptionsof people's dishonesty towards robots -- Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks -- Gaze-Speech Coordination Influences the Persuasiveness of Human-Robot Dialog in the Wild -- Robots Are Moral Actors: Unpacking Current Moral HRI Research through a Moral Foundations Lens -- Perception of a social robot's mood based on different types of motions and coloured heart -- Let's learn biodiversity with a virtual ``robot"? -- Blind Trust: how making a device humanoid reduces the impact of functional errors on trust -- What am I allowed to do here?: Online Learning of Context-Specific Norms by Pepper -- Robotic Social Environments: A promising platform for autism therapy -- Human-Robot Teams: A Review -- User Expectations of Robots in Public Spaces: a Co-Design Methodology -- Receiving Robot's Advice: Does it Matter When and for What? -- Don't go that way! Risk-aware Decision Making for Autonomous Vehicles -- Sensing the partner: toward effective robot tutoring in motor skill learning -- Social Sharing of Emotions with Robots and the Influence of a Robot's Nonverbal Behavior on Human Emotions -- Using Human-Inspired Signals to Disambiguate Navigational Intentions -- Towards the Design of a Robot for supporting Children's Attention during Long Distance Learning -- Engagement and Mind Perception within Human-Robot Interaction: A Comparison between Elderly and Young Adults -- Double Trouble: The Effect of Eye Gaze on the Social Impression of Mobile Robotic Telepresence Operators -- Administrating Cognitive Tests Through HRI: an Application of an Automatic Scoring System Through Visual Analysis -- Adapting Usability Metrics for a Socially Assistive, Kinesthetic, Mixed Reality Robot Tutoring Environment -- Legibility of robot approach trajectories with minimum jerk path planning -- "Excuse Me, Robot": Impact of Polite Robot Wakewords on Human-Robot Politeness -- Investigating Therapist Vocal Nonverbal Behavior for Applications in Robot-Mediated Therapies forIndividuals Diagnosed with Autism -- Using Robot Adaptivity to Support Learning in Child-Robot Interaction -- Social Robots for Socio-Physical Distancing -- Evaluating people's perceptions of trust in a robot in a repeated interactions study -- The effect of individual differences and repetitive interactions on explicit and implicit attitudes towards robots -- Advances in Human-Robot Handshaking -- Choosing the best robot for the job: affinity bias in human-robot interaction -- Teach Me What You Want to Play: Learning Variants of Connect Four through Human-Robot Interaction -- The Importance of the Person's Assertiveness in Persuasive Human-Robot Interactions -- Modeling Trust in Human-Robot Interaction: A Survey -- Using AI-Enhanced Social Robots to Improve Children's Healthcare Experiences -- Human aware task planning using verbal communication feasibility and costs -- Robot Planning with Mental Models of Co-Present Humans -- Conversational Flow in Human-Robot Interactions at the Workplace: Comparing Humanoid and Android Robots -- Examining the Effects of Anticipatory Robot Assistance on Human Decision Making -- The Experience and Effect of Adolescent to Robot Stress Disclosure: A Mixed-Methods Exploration -- Do Robot Pets Decrease Agitation in Dementia Patients?: An Ethnographic Approach -- A Social Robot to Deliver an 8-Week Intervention for Diabetes Management: Initial Test of Feasibility in a Hospital Clinic -- Content is King: Impact of Task Design for Eliciting Participant Agreement in Crowdsourcing for HRI -- Emoji to Robomoji: Exploring Affective Telepresence Through Haru -- Can Robots Elicit Different Comfortability Levels? -- Creating MyJay: A New Design for Robot-Assisted Play for Children with Physical Special Needs -- Humans and Robots in Times of Quarantine Based on First-Hand Accounts.

This book constitutes the refereed proceedings of the 12th International Conference on Social Robotics, ICSR 2020, held in Golden, CO, USA, in November 2020. The conference was held virtually. The 57 full papers presented were carefully reviewed and selected from 101 submissions. The theme of the 2020 conference is Entertaining Robots. The papers focus on the following topics: human-robot trust and human-robot teaming, robot understanding and following of social and moral norms, physical and interaction design of social robots, verbal and nonverbal robot communication, interactive robot learning, robot motion and proxemics, and robots in domains such as education and healthcare.