On extensions of the generalized quadratic functions from “large” subsets of semigroups

Let $$(G,+)$$ be a commutative semigroup, $$\tau $$ be an endomorphism of G and involution, D be a nonempty subset of G, and $$(H,+)$$ be an abelian group, uniquely divisible by 2. Motivated by the extension problem of J. Aczél and the stability problem of S.M. Ulam, we show that if the set D is “sufficiently large”, then each function $$g{:} D\rightarrow H$$ such that $$g(x+y)+g(x+\tau (y))=2g(x)+2g(y)$$ for $$x,y\in D$$ with $$x+y,x+\tau (y)\in D$$ can be extended to a unique solution $$f{:} G\rightarrow H$$ of the functional equation $$f(x+y)+f(x+\tau (y))=2f(x)+2f(y)$$.