I think you need to discuss the idea with your Ob. The midwives at my hospital told me that none of their obs will let you deliver in any position except on your back. So I asked my ob about this a few days later and he was totally fine with whatever I want to do. But he also said that some times women surprise themselves and told me about a woman he'd delivered the week before who was struggling and was finally convinced to get into the stirrups from where she delivered - comfortably and rather to her surprise. I was relieved to find my ob is really flexible about positions but was also suggesting that sometimes changing positions at his request can make a huge difference. (it was his way of telling me that I need to be flexible about positions too I think.)

The midwives also said they don't like delivering on the floor at my hospital - because all the midwives are getting older and it's much harder for them to get up and down off the floor these days.