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They were formed from the remnants of the dinosaurs who retreated underground after the Earth was showered by Getter Rays which wiped out most of the dinosaur population.
In the present day, the Dinosaur Empire re-emerge and attempt to drive the human population from the Earth so they can take back the surface world for themselves. In response to the Empire's attacks, the Getter Robo, a giant robot developed by the Saotome Institute that used Getter Rays as a power source, was called in to fight them and halt their invasion.