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167 Urda is a main-belt asteroid that was discovered by German-American astronomer Christian Heinrich Friedrich Peters on August 28, 1876 in Clinton, New York and named after Urd, one of the Norns in Norse mythology. In 1905, Austrian astronomer Johann Palisa showed that the asteroid varied in brightness.<ref name="Maddrill1905"/>

Photometric observations of this asteroid at the Palmer Divide Observatory in Colorado Springs, Colorado during 2007–8 gave a light curve with a period of 13.06133 ± 0.00002 hours.<ref name="Warner2008"/> This S-type asteroid is a member of the Koronis family of asteroids that share similar orbital elements.<ref name="Moore2011"/>

In 2002, a diameter estimate of 37.93 ± 3.17 km was obtained from the Midcourse Space Experiment observations, with an albedo of 0.2523 ± 0.0448.<ref name="Tedesco2002"/>

A stellar occultation by Urda was observed from Japan on July 23, 2001.


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