This study developed a musculoskeletal model of the hind legs of the rat. The skeletal model consists of planar seven rigid links that represent the trunk and the hind legs. The front legs are fixed on the trunk and slide on the ground without friction. The muscle model has seven principal muscles for each hind leg. The physical parameters of the musculoskeletal model were determined based on measured anatomical data. The computer simulation was performed to generate locomotion by the hind legs based on measured kinematic data. The simulation results were compared with measured EMG data during rat locomotion to verify the validity of the dynamic simulation with the constructed musculoskeletal model.