Advances in digital technology, periodic threats from infectious diseases, and shrinking working-age populations have increased the demand for autonomous systems. South Korea is now in crisis because its society is aging and has limited resources. The implementation of service robots is one of the possible alternative plans that has been receiving attention both for sustainable economic growth and as a solution to social problems. However, many things should be considered for service robots to be widely used in society. The aim of this study was to identify key factors that will affect the future of service robots and discuss corresponding policy measures. Four scenarios were developed using general morphology analysis (GMA). The scenarios were defined according to six key factors: technological development, infrastructure development, commercial acceptance, social acceptance, policy and regulatory environments, and technological competition. In scenario A, policy measures need to ensure that South Korea will continue as a global service robot leader. In scenario B, it is necessary to narrow the gap between South Korea and competitors in terms of service robot technology development and adoption. In scenario C-1, policies should encourage the adoption of service robot technologies both domestically and abroad. In scenario C-2, it is necessary to develop service robot technologies and promote the service robot industry.