Social robotics is one of the most important emerging technologies, with potentially profound socio-cultural impact. However, the current interdisciplinary research areas of “social robotics” and “Human-Robot Interaction” (HRI) are not yet equipped with the necessary conceptual tools in order to design interactions between humans and robots. New approaches for effective yet context-adequate social interactions are needed, that observe overarching ethical principles and take larger socio-cultural perspectives into account. With this workshop, we aim to clarify questions arising with this new technology. How far can robots go—now and in the future—to fulfill the requirements of full-blown social agents? How and where do ethical requirements dovetail with the elements (conditions, principles, and procedures) for social agency? This workshop will be part of the “Toward a Framework for Joint Action” series (fja.sciencesconf.org).