co sleeping

How do people cosleep when a baby can move? We dont cosleep but recently my baby has been waking about 4am and not settling back into her cot so from about that time she comes for "morning cuddles" in bed with me and we both fall back asleep for the rest of the morning. She always wakes before me and then I wake up with her either stepping on my head, falling off the bed (she has never seriously hurt herself but she has bumped the radiator) or her trying to climb up to the window. We have a low bed that literally the matress sits on the floor but she hasnt figured out how to get down, she sits on the edge and just falls off. Im worried shes going to hurt herself bad while im asleep. She cant walk yet but she can stand and crawl.. what am i supposed to do? our room is very small so i cant surround the bed with cushions to protect her fall. Shes 9 months old