The very description you use, "a similar sized, similar looking Tardigrade doing the very same, very fucking strange and unique thing," is an idea (not to mention DSC's Tardigrade isn't blue, it's brown, sometimes illuminated in blue light, as is nearly everything in science fiction); you can't copyright an idea, only the very specific expression of an idea. The two tardigrades are different expressions of the same idea.
Just like Trek couldn't copyright the concept of warp drive; warping space in order to move faster than light is a very specific idea, but that idea is not protected by copyright. Lots of other science fiction use the idea of warp drive; Star Trek can't sue them, either.
I'm prety sure if I invent a sci-fi show with a starship driving by warp drive, that is inspired by a UFO-saucer design with three rockets, has a humanoid alien whose distinctive mark is pointed ears and that he's always logical, CBS would sue my ass off. Even if the ship is called "Endeavour", the guy "Mr. Spork", and the show "Space Trek". At some point, it stops being "a basic idea", and becomes copyright, even if there are marginal differences in the expression of said idea. And in this case: The CBS Tardigrade is abso-fucking-lutely the very exact SAME expression of the original idea.
Everyhing else - the characters, starship designs and so on - is generic enough to not warrant any attention. That's why I think it's really dumb of his lawyer to focus on that stuff, because it allows CBS - as they did - to focus on that as well, and ignore the real shameful part - the exact duplication of his FTL-Tardigrade idea.
Had this guy worked for an actual company, they sure as hell would have handled this with giving proper compensation behind the scenes and both parties being hush about it to the public. But American copyright law just doesn't care for you if you don't have the machinery behind you to enforce it - and his joke of a lawyer is really not helping his case.
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