Using additional Store-CheckPoints (SCPs) and Compare-CheckPoints (CCPs), the authors present an adaptive checkpointing for Double Modular Redundancy (DMR) in this paper. The proposed approach can dynamically adjust the checkpoint intervals. They also design methods to calculate the optimal numbers of checkpoints, which can minimize the average execution time of tasks. Further, the adaptive checkpointing is combined with the DVS (Dynamic Voltage Scaling) scheme to achieve energy reduction. Simulation results show that, compared with the previous methods, the proposed approach significantly increases the likelihood of timely task completion and reduces energy consumption in the presence of faults.