Yes, I have made love on the same bed as a sleeping baby...very infant stage only. Nothing beyond rolling over age.
But you want to hear a gross story, with husband #1...he had a broken leg, repaired with a metal rod inserted through the femur and screwed into the leg through the hip and knee.....well, we were on the bed, basic position and I felt warm, fluid like stuff running down my one leg, and I was covered in blood....the rod displaced and came shooting out his hip where the incision was. I was so grossed out by all the blood, it completely ruined my mood and he wanted to finish up....?!? No, I would not finish up..but instead drove him to the ER where they had to emergently operate and remove the rod and put him in traction. Ugh. I had forgotten about that one until you asked this Q.