limp (v.) Look up limp at Dictionary.com
1560s, of unknown origin, perhaps related to Middle English lympen "to fall short" (c.1400), which is probably from Old English lemphealt "halting, lame, limping," which has a lone cognate in the rare Middle High German limphin, and perhaps is from a PIE root meaning "slack, loose, to hang down" (cognates: Sanskrit lambate "hangs down," Middle High German lampen "to hang down"). Related: Limped; limping. As a noun, 1818, from the verb.
limp (adj.) Look up limp at Dictionary.com
1706, "flaccid, drooping," of obscure origin, perhaps related to limp (v.).