Unfortunately my internet budget is running down.
Your experience of "walking to the kitchen" yet finding yourself back in bed:
I had a very similar experience which I called "trapped in a dream". And during this I "woke up" yet in fact it was still a dream.
I actually had quite a battle to get into the "real" reality. Um, very educational, these experiences!
I think this kind of thing may have been quite well documented. (www.lucidity.com or something, maybe) There is a phenomenon called "sleep paralysis"; it's where someone tries to move physically but yet their body doesn't 'engage'. Not essentially much different from finding it hard to get up in the morning. I guess.
I think it is possible to document all data one can gather for oneself from such experiences and, not go nuts; but end out some jumps ahead of modern neurology on understanding how humans function.
I think one can "keep one's feet on the ground" ideally by chosing the most solid ground there is: I call this "existence". For example, by not denying anything one ever felt or thought; by being open to "what is", more of the fuller picture becomes visible.
"If only we knew what to do with that new knowledge... "
My approach was to document what I experienced; and to investigate further. New discoveries can follow, the future becomes freer...