With current developments in robotics and artificial intelligence (AI) comes an increased focus on the ethical production and use of such novel technologies. Accordingly, a trend toward "embedded ethics"is seen in recent research, reflecting an increase in efforts to integrate social and ethical considerations in computer science education and early in the development phases of AI and robotics. What remains to be established, however, is a more concrete understanding of the best working modalities for such interdisciplinary collaborations. In this brief discussion paper, we provide reflections derived from our interdisciplinary Responsible Robotics project which integrates ethicists and social scientists at early stages of development. We put forward several suggestions on how to integrate ethics and social science within technological development. We believe these suggestions can serve as a working taxonomy of best practices for embedded ethics.& COPY; 2023 Elsevier B.V. All rights reserved.