yes, when using IK having a slight bend in the joints will help the the IK solver determine what way its supposed to bend. Also, i noticed that you said you setup an IK from the Heel to the Hip Bone. its best to work down the Hierarchy. with the IK tool selected, click on the hip and then the heel. this will set the effectors to be down at the heel. Also, to help control which way the bend in the IK is facing, i like to use rotateplane IK solvers instead a single chain IK solver. in the AM there a channel for twist to control which way the bend is facing. i like to use a locator, snap it to the knee, then move it forward in Z so that its right in front of the knee a bit. rename the locator left(or)right Pole vector, select the left(or)right polevector and the corresponding Leg IK, and go to >Constrain>Pole Vector. now you can translate the polevector(locator) to move what way the bend in the IK is facing. hope this helps