Gastrocnemius:The larger of the two muscles that make up the triceps surae, the gastrocnemius originates from the posterior aspect of the femur and inserts on the calcaneus via the Achilles tendon.
Soleus:The deeper and more powerful of the two muscles in the triceps surae, the soleus originates from the posterior aspect of the tibia and fibula and also inserts on the calcaneus via the Achilles tendon.
Achilles Tendon: The common tendon of the triceps surae muscles, the Achilles tendon connects the gastrocnemius and soleus to the calcaneus, allowing for the powerful plantar flexion of the foot.