Both my pedals have rubber feet, but they don't cope well with thicker carpets or vacuum cleaners. I could when coming home from golf, find them pushed up to either end, or the other side of the crossbar. Then if I started playing, my feet were searching for them.
I have two of those Bespeco foot switches, with which you can change the polarity. They can be used for any function (except volume). I used them when I had my Yamaha PSR 5700, must be twenty years ago, same with the volume control.
I only posted this, as it might be of interest to people with a similar situation as myself.
I'm sure many have other solutions for their own situations.