Robinson, who leads the team with eight receptions for 115 yards, missed the previous two days of practice while recovering from a concussion suffered in last week's win at Indianapolis.
He was back running routes Friday, and coach Mike Mularkey listed him as probable to play against the Bengals.
Defensive end Austen Lane (foot), guard Eben Britton (ankle), right tackle Cam Bradfield (ankle) and running back Rashad Jennings (knee) also are expected to play. Lane has been out since early in the preseason. Britton, Bradfield and Jennings were injured in the season opener.