Richardson hasn't played since he underwent surgery to his partially-torn hamstring tendon after the Tigers lost to Sydney back in round six.
The 34-year-old moved well during the nearly hour-long session.
"He will join in skills training this morning," senior coach Jade Rawlings said from Punt Rd on Friday morning before the session.
"He's a great healer, and his diligence towards his rehab is second to none, so he is at a stage where he's completed a lot of lactic-running and multiple-effort running.
"He'll pick up the skills today – it won't be much, but it's another step forward in his progress, and round 18 or 19 looks like his comeback date."
Rawlings culled a group of older players from the senior side when he took on the job, including Joel Bowden, Troy Simmonds and Mark Coughlan, and said things had been variable for the group since.
"It is tough – Troy Simmonds is still sore, he hasn't played since he missed selection, so it's been hard for him to prove anything to us to get back in.
"Joel's a different case, he always performs solidly at VFL level, and Cogs had a couple of down weeks once he went back, but he realigned himself and was good last week in the VFL.
"They're all different cases, but we're very pleased with the group we've got in at the moment.
"We're just going to stick to our selection criteria, and whoever fits that bill with performances at Coburg and the upcoming opposition, that's what we'll stick to."
