How to start a startup based on university research?
This will heavily depend on the specific country you are talking about. We have a so-called Innovation Lab that aims at encouraging "entrepreneurship and innovation by identifying, supporting and providing guidance for potential high-tech startups and spin-off companies originating at TU/e." Specifically, they guide researchers along the entire process: from checking whether the idea can be patented to actually establishing a startup / spin-off company.

With respect to copyright: lion's share of our research is being published so there can be no problems for companies to use the ideas presented in scientific papers. Using unpublished results might be more tricky but I can imagine that the university will agree to formally keep copyright and allow the company to benefit from it under some restricted conditions.