"Limp" and "cripple" are not synonyms.
"Limp" refers to difficulty or an abnormality in walking due to an injury, weakness, or stiffness in a leg or foot. For example, "He limped because of his injured ankle."
"Cripple" is an offensive term and is not appropriate to use to describe someone with a disability. It is considered insensitive and derogatory. The more appropriate and respectful term to use would be "person with a disability" or "person with a mobility impairment."