羅伯特·巴克
In 1966, a second specimen of "Heterodontosaurus" (SAM-PK-K1332) was discovered at the Voyizane locality, in the Elliot Formation of the Stormberg Group of rock formations, above sea level, on Krommespruit Mountain. This specimen included both the skull and skeleton, preserved in articulation (i.e. the bones being preserved in their natural position in relation to each other), with little displacement and distortion of the bones. The postcranial skeleton was briefly described by palaeontologists Albert Santa Luca, Crompton and Charig in 1976. Its forelimb bones had previously been discussed and figured in an article by the palaeontologists Peter Galton and Robert T. Bakker in 1974, as the specimen was considered significant in establishing that Dinosauria was a monophyletic natural group, whereas most scientists at the time, including the scientists who described "Heterodontosaurus", thought that the two main orders Saurischia and Ornithischia were not directly related. The skeleton was fully described in 1980. SAM-PK-K1332 is the most complete heterodontosaurid skeleton described to date. Though a more detailed description of the skull of "Heterodontosaurus" was long promised, it remained unpublished upon the death of Charig in 1997. It was not until 2011 that the skull was fully described by the palaeontologist David B. Norman and colleagues.