"I don't know if he's going to start, but he's going to participate," coach Jim Zorn said.
Taylor has missed two games since undergoing surgery on his left calf Sept. 22. He returned to practice Thursday wearing a titanium pad to protect the stitches in his leg.
Defensive tackle Cornelius Griffin, who sprained his right shoulder in last week's win over Philadelphia, returned to practice Friday and is listed as probable.
"It looks like he's going to get the OK," Zorn said.
Cornerback Shawn Springs, who missed last week's game with a strained left calf, practiced for the second day in a row and is also probable.
The news was less promising for linebacker Marcus Washington and offensive lineman Stephon Heyer. Washington remains limited by a nagging hamstring injury and will be a game-time decision, while Heyer appears likely to miss his second straight game with a sprained shoulder, giving veteran Jon Jansen another start at right tackle.
Backup safety Reed Doughty will miss the game with a back injury.