Pay, call the police and file a report, then dispute the bill with your bank. Say you were afraid. Then, call the manager of the restaurant and hound him til he agrees to find your bill and cancel it with his credit card company. Make sure he knows if he doesn’t the bill will get reversed anyway and he may incur fees from his credit card processor. Come to think of, threaten to get his credit card processing account shut down if he fights a bill dispute caused by his own employee.
Stores pay attention when you go after their basic ability to function.
Much better than my solution.