[oedo]

Anecdotal datapoint: after discovering this article a long time ago, I adopted the sleeping posture in figure 2.2 (bring it on, insects) for many years. Mattress topper on the floor-- while traveling, only a folded blanket or my jacket. Loved it and never woke up sore, no matter where I slept. Additionally, this article's quirky presentation always made the habit ripe for sharing with others (add in some play-proselytizing and lambasting the "profit-driven motives of Big Bed").

I recommend at least trying out these postures-- they may be useful to you even if only as a means of securing comfort and rest in situations or environments where accommodations may be limited (camping, crashing at a friend's place, sharing a room with friends/family, roaming the post-apocalypse, etc.)