Choreographer Wade Robson claims Michael Jackson molested him

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Dancer and choreographer Wade Robson was a star witness in Michael Jackson's 2005 child molestation trial, testifying that the pop star "never" abused him, contradicting testimony by a maid that told the court she saw Robson with Jackson in the shower.

Robson, 30, is now asking a Los Angeles judge for permission to file a late claim against the late singer’s estate -- and an order to seal an “unfiled complaint for childhood sexual abuse,” to protect his privacy.

Robson is an Emmy Award-winning choreographer who has worked with Britney Spears, Justin Timberlake, and most recently Demi Lovato. He also gained fame on the television competition series "So You Think You Can Dance" as a judge and choreographer.

Robson was a regular sleepover guest at Jackson's Neverland Ranch along with child actor Macaulay Culkin. Both testified that Jackson never abused them.

The maid, Blanca Francia, recalled seeing Robson’s tiny “green-neon” underwear on the bathroom floor next to Jackson’s white cotton briefs and hearing the pair “laughing and playing around.” She said she could make out the figures of Jackson and a “little kid” but the "cloudy" steam prevented her from seeing whether they were touching.

Perry Sanders, a lawyer for Jackson's mother, told the New York Daily News he is confident the claim is bogus. "This is really absurd," he said. “Look, his mom and sister were at the (molestation) trial and said it was absolutely ridiculous."

Watch Wade Robson performing on Star Search in 1990: