Beyond both being based on Earth insects, there's no particular resemblance between the two at all, so it's highly unlikely that one inspired the other. Give two different artists the assignment "design an alien that looks like an insect but is kind of humanoid," and odds are that their designs are going to have similarities, because of course they're both based on the same thing. Just as any two "cat aliens" or "reptile aliens" are likely to look similar. Really, there's nothing here.
^^yep I qualified my post with that very notion, it's just kind of fun thing to notice.
Various TAS elements had been slowly brought into subsequent shows, so it's somewhat plausible, though not likely.