Cognitive developmental robotics (CDR) has evolved from treating physical embodiment and social interaction as distinct stages to recognizing their inseparability from the beginning. This paper deepens the understanding of embodiment through the lens of robot pain, supported by two preliminary experiments—a tactile sensor for pain discrimination and a fear-learning model. It further expands social interaction from dyads to societal dynamics, using robot pain as a medium for ethical engagement. To address resulting governance challenges, we propose to apply agile governance—a participatory framework. A thought experiment on care robots illustrates its practical utility. This paper offers a novel perspective on CDR’s future in AI-driven society.