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Cerberus (ケルベロス) is a three-headed dog.
They appeared in the first episode as an image and the second episode of the anime in 1989.
Gegege no Kitarō
They appeared as a guard dog and a pet of Kame-hime and attacked Kitarō.
Cerberus is the three-headed hellhound from Greek mythology, famously being a servant of the underworld god, Hades. Like it's Fifth Anime's counterpart, the original description of Cerberus is also of a guard dog, but instead protecting the entrance of the underworld from the escaping dead and the intrusive living.