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Hercules is a troubled man who commits acts of atrocity (sometimes caused by Hera so not his fault), and then he repents and does penance for these acts

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Hercules is a troubled man who commits acts of atrocity (sometimes caused by Hera so not his fault), and then he repents and does penance for these acts. Why might the Greeks consider him a great hero, and what does this say about the Greek belief system? Why do you think he ascends to join the Olympians instead of passing to the underworld like Achilles?