Muscles used in normal walk during stance and swing?

Gastrocnemius muscle attaches proximally to the femoral condyles; distally, it attaches to the calcaneus bone the calcaneal tendon. The gastrocnemius muscle plantar flexes the foot and flexes the knee. It runs from its two heads just above the knee to the heel, and is involved in standing, walking, running and jumping. The tibial nerve (S1 and S2) innervates this muscle.