Initial GuessΒΆ

The initial guess values for the slack lengths are defined using the maximum lengths of the ligaments (that was determined when defining the upper bounds of the optimization variable space). The initial guess for every control variable is the corresponding upper bound (i.e. maximum length) multiplied by 0.9. This value was partially based on experience, and its purpose is to provide an initial guess that satisfies the inequality constraints. This initial guess is uniformly applied to every control variable in an attempt to avoid influencing the optimization solution with a judicious selection of initial guess values.