A co-sleeping friend of mine kept the baby on her side of the bed this way,
by making a sort of sling:

Lay a flat sheet diagonally, with one corner in teh middle of your bed, the
middle along the edge of your bed, and the overlap hanging over onto the
floor.  Put baby on sheet near the edge of the bed, and lay down yourself in
the middle, but so that the corner or edge of the sheet is still well under
you, secured by your body. Fold the overlapping half of hte sheet across baby
-- being careful to fold it down so that baby's head is not covered, of
course -- and, continuing across, over your own body.  Tuck the far end in
behind your back and under your hip.

I personally have not tried this -- I don't like to feel so confined by my
bedclothes -- but she told me it worked well to keep the baby secure and away
from Dad's cooperative but semi-comatose bulk.  FWIW.

Elisheva

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