Various guidelines for social implementation of autonomous robots have been developed so far, though there is the issue of how these guidelines are used. In this paper, the concept of legitimacy is used as a criterion to evaluate such guidelines. From the perspective of this legitimacy, sociological acceptance, moral legality, and future expectations can be considered as constitutional and legal perspectives when considering the necessary conditions for addressing the challenges of social implementation of autonomous robots. At the same time, the article considers that resources, reflections, expertise, recognitions, and results are required in terms of the elaboration likelihood model as sufficient conditions. As a case study, an examination of the Japanese government’s approach to ethics extracted the need for moral legality and the need for resources and advice from an ethics professional perspective for adequate outcomes. It is also a contribution to this paper that it has been able to present a review process in which the necessary and sufficient conditions for consideration must be examined from the perspective of legitimacy examined.