A portable co-sleeper might be a good option for this case. I used one with my daughter. It's like a small bassinet with no legs, and is meant to go in the parent's bed, between the adults. Because it has sides, she wouldn't be able to kick her dad, and there are models that have openings so you can nurse. Also, since it is portable, I found it helps with the transition to a crib, since she's sleeping in the same bed in either location (crib or your room).
A regular co-sleeper (the kind that attaches to the side of the bed) would also prevent her kicking dad, as she wouldn't be between you.
Just a note: please check the size on any co-sleeper unit. A lot of the ones on the market are intended for smaller babies and may not be large enough to be comfortable, or have side walls too low to be safe for a baby that can roll over and push up.