In fact, the hubot documentation shows the use of setInterval()and setTimeout()without the use of additional modules.
You can even do this inline by binding to the msg object. For instance:
module.exports = (robot) ->
updateId = null
robot.respond /start/i, (msg) ->
msg.update = () ->
console.log "updating"
if not this.updateId
this.updateId = setInterval () ->
msg.update()
, 60*1000
msg.send("starting")