A robot should detect failures or anomalies and recover from them for safe execution to prevent potential damages to its environment or objects in interest. In this project, we investigate failure detection, isolation/identification and recovery methods for safe task execution by autonomous humanoid robots. The main motivation behind our work is developing methods that enable robots’ safe use in everyday application scenarios. Although this is a well-studied research topic for industrial robots in structured and engineered environments, for which certain standards and regulations exist, there are still several open research questions for safety in task execution by autonomous robots working in unstructured environments. We address these questions and propose a safe task execution system for solving them.