Need advice mamas

So my son is about to be 10 months old and I need him out of our bed ! I am constantly waking up in the middle

Of the night petrified he’s crawled off the bed and when I say petrified I mean full on sit up scream ugh he’s so active and I feel he will sleep better without us there too because he’s 26lbs and super tall so I know he isn’t always comfy. Here’s the question: how do I start transitioning him ? While he is asleep or let him fall asleep I put him in the crib and he bangs his head off it and tries to stand up we lowered it.

Helpful tips will help! He loves to snuggle and always has to feel us I tried a bassinet and that was not helpful ! The only One using the crib is our cat LOL help me ladies !