Height is a little overrated on the interior, IMO. You're trying to be low man most of the time. You're probably at a slight advantage if you have really long arms to keep hands off of you, but I don't think you're losing much in the way of obstructing passing lanes at 5'10" as opposed to 6'2." I don't think rushing the passer on third down is going to be his thing, regardless.
He doesn't have the quick-twitch explosiveness off the line that Donald does, but I think he could have a nice NFL career as a rotational early-down guy. Richardson next to an elite run-stopper like Linval Jospeh would be extremely tough to move in the run game.