lol.
first of all, its not a bad habit to cosleep. its not going to be something she will need forever, and you give her the idea that her needs are important to you and shes loved and respected despite her higher needs :D so, regardless of situation, feel proud that you have done a GOOD thing in trusting her needs and your needs, and ignore the guilt that others will put on you because of this choice.
next, its important to know that kids are NOT born with the natural ability to sleep perfectly. in addition, it is not something that can be 'taught'. it is something that needs to be nurtured and grown not taught.
put it this way. if most parents use 'training' and 'cry it out' to get their kids to sleep, ignoring any needs they may have, and most kids, up through adults, have issues sleeping, have tantrums, dont trust or listen to their parents... well, maybe there is a connection.
im sure you've heard of the terrible 2s... well, my son is 2. hes never cried it out (within reason, i did notice when his cries were no longer immediatly urgent and he did fuss a bit more then) and hes never once acted in the way a "typical" 2 year old acts. yes he has his moments of wanting something a certain way, and within reason we do a lot of removing him from the situation, calming down, trying again. but as far as sleep habits, i couldnt ask for a more perfect situation. since hes never been forced to stay in his crib to cry or anything, he doesnt see it as a scary place where hes forced to be alone, he sees it as his own space to relax and sleep. if he has trouble, a nightmare, whatever, he trusts that we will come and get him and tend to that need. :D
its so beautiful to have something so different from most other parents i know. we have one friend who raised their son the same way (hes a month older than my son) and hes the same way. very calm, very trusting, very much the opposite of "typical" 2 year old behavior.
what ive come to find in my experiences with children (i have a child care in my home, not to mention family babies...) is that the cry it out kids are much more angry, less likely to trust and listen to their parents, and they do not have much empathy. however, my son cries when we scold his TOYS (a funny, backward way of teaching not only proper behavior with his toys, but also, obviously, empathy) :D
anyway, the major point is to not let baby trainers tell you that if you let your daughter sleep with you she wont be able to sleep any other way.
HOWEVER, i realize your question is more about the fact that when shes in your bed, shes a tornado! i do know something about that as well.
some alternate suggestions. shes 9-10 months old right? try putting her crib/bed in your room. our son is still in our room, and though it makes for interesting private time (we get good use of our spare bedroom and etc LOL) but it allows our son to have the security of knowing we are right there if he needs us. instead of waking up and having to get really scared and worked up, he just has to whisper and we hear him. :D
anyway,
other ideas, more for when she is older, is putting a matress or sleeping bag on the floor. you could also just put her back to bed once shes asleep. this is especially when the crib in your room is helpful. dont have to go far!
anyway, i hope i gave you quite a few things to think about. you are doing a good job i KNOW - just keep following your heart, do the things you know are right for your daughter. :D outside advice NEVER beats moms' instincts. :D