What is the action of gastrocnemius at ankle during walking?

The gastrocnemius muscle is a two-headed muscle located in the back of the leg. It plays a major role in ankle plantarflexion. It works together with other calf muscles during walking, helping to push off the ground, lift the heel and extend the ankle joint. At the ankle, it acts synergistically with the soleus muscle as they insert on a common, distal tendinous insertion. Together, they are known as the triceps surae or 'calf muscle'.