Heroism in the Middle Ages was the brave, noble actions of the hero in terms of how he dealt with fate. Hagen is a villain morally, but he is also a hero because by the standards of the Middle Ages, a hero is also determined by the others in his society. Siegfried's willingness to help Gunther win Brunhild as his wife makes Siegfried a hero because it shows his strength of character. Kriemhild is considered heroic because of her loyalty to Siegfried. Rudiger is also considered a hero because of his moral character and his inner struggle at the end, having to decide between Etzel and the Burgundians.
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