You can create a string similar to your HTML code, that represents the row:
var new_row='<tr>'
+ '<td><input type="text" id="firstName" name="firstName"></td>'
+ '<td><input type="text" id="lastName" name="lastName"></td>'
+ '<td><input type="radio" id="gender" name="gender"></td>'
+ '</tr>';
I have created only some part of it, you need to add everything your case requires. Then this JS can be used to add the new row to your table:
document.getElementById('table_id').append(new_row);