Start getting her out of your bed and in a playpen or crib in your room. You would be surprised however how well just a change a child can adjust. Sometimes these transitions are more stressful for us parents then the children. If you are calm about it she will hopefully follow your lead. Just do it!
Try just putting her in her own room and in her own crib at naps and see how she does. I had a lightweight blanket on my babies when they were 6 mos, one with holes in it but typically they kicked it off. Layer her, a onsie, then heavier feetie jammies should be warm enough for her or even a sleep sack. Don't assume she won't sleep well without her blanket. At 6 mos it is a great age to change things up as dependency hasn't kicked in like it will down the road.
You are giving her a big gift teaching her to sleep on her own, it is safer for her now to be out of your bed and I am a firm believer parents need a space all their own minus children at night! :)
Make sure there are no bumpers in her crib or anything plush and I am sure she will be fine, start with naps and if she really has issues put something in your room but if you get this over with now, it may be a few unsettled nights but in the long run it will save you a ton of stress later! Good luck.