The concept of self-legislation or autonomy is one of the outstanding innovations of Kant’s ethics. Nevertheless, it should not be ignored that it also builds on previous positions. Even if Kant in the Groundwork classifies all other moral principles as heteronomous, it is important to recognize that Kant incorporates elements of Wolff’s theory of self-legislation and Crusius’ theory of obligation into his theory of autonomy. In this essay, I present the relevant themes in Wolff and Crusius and discuss how they (...) were taken up by Kant in the mid-1780s. (shrink)