The type species Homodontosaurus kitchingi was named by South African paleontologist Robert Broom in 1949.
The type species Ictidodraco longiceps was named by South African paleontologists Robert Broom and John T. Robinson in 1948 from the Cistecephalus Assemblage Zone.
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He was friendly with William Guybon Atherstone, who was also a keen geologist and fossil collector and who was present at the discovery of Paranthodon africanus Broom at the farm Dassieklip on the Bushmans River, about half-way between Grahamstown and Port Elizabeth.
Both Dart and Broom, as well as Charles Darwin (1809–1882), agreed that this new type of locomotion brought a remarkable advantage in comparison to other co-specifics, to rival animals or to the quarry.
Subsequently many similar skulls were unearthed by prominent palaeontologists of the day, including Robert Broom, Alexander Galloway, William Pycraft, Sidney Haughton, Raymond Dart, and others.