Although the cause of death was not yet confirmed, Richardson likely died of natural causes, said Globetrotters spokesman Brett Meister.
The players were at a U.S. military base in Sasebo, Japan, as part of an annual holiday tour. The Globetrotters are in their 83rd consecutive season of touring the world.
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Meister said the organization was still in shock over Richardson's death.
The 6-foot-7 Richardson played at University of Nevada Las Vegas and joined the Globetrotters shortly after his college career ended.
Richardson was known for his dunking skills and a genial disposition, according to Meister.
"He was a great Globetrotter on and off the court. He just had a very engaging smile that would light up the room," Meister said.
Richardson was also active with organizations such as the Make-A-Wish Foundation, Boys & Girls Clubs as well as adoption agencies.
Team officials said a memorial service would take place in his hometown of Corpus Christi, Texas.
Richardson's survivors include his mother.