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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.
The gastrocnemius muscle does the following: 1  Flexes the leg at the knee. This means that the gastrocnemius muscle bends the leg at the knee joint such that there is a decrease in the angle between the lower leg and the upper leg. 2  Plantar flexes the foot.