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Kerbals can walk just fine on objects moving across the surface of a planet, PROVIDED that object isn't moving any faster than a Kerbal can run in the same direction. What quits working is the friction between the Kerbal's feet and the surface. As long as the Kerbal is walking/running, he's OK but when he stops (or is not under your control), then he holds still while the surface moves out from under him.

Also, Kerbals can walk on surfaces that are "down" compared to the local acceleration. IOW, if the rocket's thrust is coming up through the floor relative to the Kerbal, he can walk around as normal and will even stand in place provided the thrust axis remains perpendicular to the floor he's standing on.

Otherwise, I think you're outta luck. Kerbals are advised to remain in their seats with the seat belts fastened while the vehicle is in motion :).

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