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The gastrocnemius inserts at the calcaneous bone of the heel of the foot by way of the Achilles tendon. Achilles Tendon. Muscles insert to bone through their tendons. Muscle bundles are surrounded by filmy connective tissues. These connective tissues extend from the muscle and gather to form tendons. Tendons are denser and more fibrous than muscle.
1 Activate Your Free Trial!  Gastrocnemius muscle. Gastrocnemius muscle, also called leg triceps, large posterior muscle of the calf of the leg. It originates at the back of the femur (thighbone) and patella (kneecap) and, joining the soleus (another muscle of the calf), is attached to the Achilles tendon at the heel.