We are among the organizers of the workshop Semantics, Identification and Control of Robot-Human-Environment Interaction, which has been accepted at IEEE International Conference on Robotics and Automation, to be held in May 2013 in Karlsruhe, Germany. The objective of this workshop is to discuss how to semantically understand the environment or intended effects of human actions to control robots with many degrees of freedom such as humanoid robots. Similarly, we will discuss how to utilize a large number of robot actuators to actively estimate properties of the environment or humans through interactions. More concretely, we will discuss research topics including but not limited to imitation learning, human movement recognition methods, system identification methods, and object identification methods for high-dimensional systems.