As Corion said, the original author can give you permissions. If he/she is no longer reachable, you'll need to write to the modules mailing list asking for permissions for that module (giving proof that you attempted to contact the original author). See also for example http://neilb.org/2013/07/24/adopt-a-module.html

In reply to Re: Collaborate on a module by Anonymous Monk
in thread Collaborate on a module by ASeekerOfWisdom

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