We were big cosleepers also but had to stop fairly early on for the same reason, which is my kids were so active in sleep that myself and DH couldn't get any sleep. So what I finally did was bring the crib in (ok, so we had to buy one) and put it next to my bed (completely against it) and then before they were able to climb out, I put the side rail down and they felt they were in bed with us but we still had the freedom to move and be comfortable. That worked out well for us. An additional perk was that they stopped waking up at night because they felt more secure from the beginning. So we ALL slept better.
Patty

Patty