By Selena Hill ( | First Posted: May 08, 2013 04:09 PM EDT

Wade Robson gestures to Michael Jackson fans as he leaves the Santa Barbara county courthouse in Santa Maria, California. (Photo : REUTERS/Phil Klein)

Four years after the death of Michael Jackson, dancer Wade Robson is asking a Los Angeles judge for permission to file a late claim against the singer's estate and an order to seal an "unfiled complaint for childhood sexual abuse."

As a child, the famed Australian choreographer was a frequent guest at Jackson's Neverland Ranch. Robson met the King of Pop when he was 5-years-old and even testified on Jackson's behalf during his child molestation trial in 2005.

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Now, however, the 30-year-old alleges that he was molested by Jackson as a boy, and reportedly asked the judge in the Jackson Estate case to allow him to file a late creditor's claim to collect money from the estate.

In response, Jackson Estate lawyer Howard Weitzman had slammed Robson's claims as "outrageous and pathetic."

"This is a young man who has testified at least twice under oath over the past 20 years and said in numerous interviews that Michael Jackson never did anything inappropriate to him or with him," Weitzman told TMZ on Wednesday. "Now, nearly four years after Michael has passed, this sad and less than credible claim has been made."

At Jackson's 2005 molestation trial, Robson said that he shared the pop star's bed a few times as a boy but was "never" sexually abused. He also refuted an ex-maid's claim that she caught Jackson showering naked with him. According to Blanca Francia, she heard Robson and Jackson "laughing and playing around" in the shower.

Now Robson says it did happen when he was about 8-years-old in 1989 or 1990.

A lawyer for Jackson's mom was critical of the new claim.

"This is really absurd," lawyer Perry Sanders told the Daily News.

Sanders said he spoke to Tom Mesereau, Michael's criminal defense lawyer, and felt confident the claim was bogus.

"Look, his mom and sister were at the (molestation) trial and said it was absolutely ridiculous," Sanders said.

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