Pets and newborn

I have two young and hyper dogs. One is 30lbs and the other is 9 lbs. they wrestle, run, and bark all day long. I myself have been caught in the crossfire and have scratches from their rough housing. I'm so worried about them and the baby. Doggy gates won't work either. Whenever the dogs are by themselves they are super well behaved it's just when they are together they act like fools. Besides worrying about them landing on top of my newborn I also worry about how I'm going to take them outside while I'm home alone with baby. We don't have a yard :( I need advice on what to do, because I fear my only option may be to give one up.