Underground Railways Cities with underground railway systems Sapporo Sendai Tôkyô Metro (incl. Tôyô Kôsoku and Saitama Kôsoku Railways) Tôkyô To'ei Yokohama Nagoya Kyôto Ôsaka (incl. Kita Ôsaka Kyûkô) Kôbe (incl. Hokushin Kyûkô) Fukuoka NOTE: Trains on the Sapporo system are rubber-tyred and run flat roll ways, guided by a central rail