Ankylosauria is a group of herbivorous dinosaurs of the order Ornithischia. It includes the great majority of dinosaurs with armor in the form of bony osteoderms, similar to turtles. Ankylosaurs were bulky quadrupeds, with short, powerful limbs. They are known to have first appeared in the Middle Jurassic, and persisted until the end of the Cretaceous Period. The two main families of Ankylosaurs, Nodosauridae and Ankylosauridae are primarily known from the Northern Hemisphere, but the more basal Parankylosauria are known from southern Gondwana during the Cretaceous. Ankylosauria was first named by Henry Fairfield Osborn in 1923. In the Linnaean classification system, the group is usually considered either a suborder or an infraorder. It is contained within the group Thyreophora, which also includes the stegosaurs, armored dinosaurs known for their combination of plates and spikes. Etymology The name of this group of dinosaurs is associated with a number of anatomical features in which small and large bony shields fused together, completely covering their back and sides. On the skull these shields fused with the underlying bones, and the dorsal ribs fit snugly to the vertebrae. The Latin name Ankylosauria is derived from the Greek ἀγκύλος [ankylos] — "curved", "bent" with the anatomical meaning "hard" or "fused" and σαῦρος [sauros] — "lizard". In the 1908 description of the genus Ankylosaurus, Barnum Brown described the family Ankylosauridae as a group of representatives with a "rigid spine", but noted the wide, curved shape of the ribs, suggesting a "strongly curved" back (an error based on the alleged similarity to stegosaurs and glyptodonts, as ankylosaurs have flat backs). Therefore, "rigid lizard" and "curved lizard" could be additional meanings applied to the name of ankylosaurs. Classification Ankylosauria and Stegosauria together form the two major subgroups of Thyreophora, a group of armoured dinosaurs distinct from ornithopods and marginocephalians. Historically used for forms lacking large vertical plates, Kenneth Carpenter proposed in 1997 the first informal definition of the group, as all ornithischians closer to Ankylosaurus than Stegosaurus. This definition was further refined by Paul Sereno in 2005 to specify Ankylosaurus magniventris and Stegosaurus stenops, the type species of both genera, a definition that was followed by Madzia and colleagues in 2021 when the group name and definition was formalized following the PhyloCode. Phylogenetic and morphological studies have differed on the inclusion of certain early taxa into Ankylosauria, especially the armoured Early Jurassic form Scelidosaurus. As some analyses, like