This pronoun-antecedent relationship is studied under the umbrella of anaphora.
Wikipedia describes it thusly:
"In linguistics, anaphora /əˈnæfərə/ is the use of an expression the interpretation of which depends upon another expression in context (its antecedent or postcedent)." - Wikipedia, the Free Encyclopedia
There is always some ambiguity introduced with the presence of two or more antecedents. The sentence is not ungrammatical as such, but it is quite a load on the brain to understand and should be cleared up.
The greatest clarification (keeping the current form) would be achieved by repetition of the antecedent, which is usually awkward. I would have combined the sentences into a more singular thought -- something like this:
"Robert Carlock, in particular, is the Spaceman expert; as a result, most of Carlock's jokes, like this one, are borrowed from Spaceman."
Hope this helps.
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