Taylor was previously with the Green Bay Packers.
Supernaw is expected to be active Sunday and back up rookie tight end Crockett Gillmore, who's starting his first NFL game with veteran tight end Owen Daniels out after undergoing arthroscopic knee surgery.
Supernaw has recovered from a hamstring injury that sidelined him against the Indianapolis Colts. He first signed with the Ravens in May after being cut by the Houston Texans, for which he played under current Ravens offensive coordinator Gary Kubiak.
Supernaw first signed with the Texans in 2012 after going undrafted out of Ouachita Baptist University in Arkansas, where he was a four-year starter. He had been on and off Houston's practice squad, playing in one regular-season NFL game with no catches.
Supernaw was released by the Ravens during their final major roster cutdown before the season. He joined their practice squad and was promoted last month to the active roster before returning to the practice squad.