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A bed was a flat, tilted, or semi-flat surface often elevated above the ground and used to sleep on. They were often pieces of furniture. One alternate variety was the hammock. (DS9: "Explorers")
Cardassian beds were also found to be uncomfortable to Humans, but according to Vash, sleeping in any bed, even a Cardassian one was a luxury to her, since she usually slept on the ground in tents. (DS9: "Past Tense, Part I", "Q-Less")
As Odo was a shapeshifter he did not use a bed, though he had liked sleeping in one when experiencing humanoid life. While sleeping, he would lose his solid state and turn to a gelatinous substance, causing him to slide onto the floor. (DS9: "In Purgatory's Shadow")