Having WAY too much time on my hands, I have studied this and I have a little different approach to securing a duffel bag to the passenger seat..
First, the suggestion on ROK Straps was a great one-they are pure genius. No hooks to scratch things- the loop connection is one of those "elegant solutions"...simple, leaves no marks and uses the stretchy material to apply tension to the load instead of just pulling a strap ever harder. I am banishing all bungee cords from my shop and plan to give all my family members ROK straps for Christmas.
Second, Joe's suggestion on using the hand rails as a tie down point works great...secure, smooth, easy to access. But using them does seem to position the straps behind the bag. Not a bad thing, but I wanted a forward position to secure the other two straps.
What I stumbled on was using the helmet locking point (a heavy "bent wire" located under both sides of the passenger seat) as a place to anchor the two forward mounted ROK straps. You simply remove the passenger seat, slip the loop end of the ROK straps over the open end of the helmet locks and drape the strap over the edge of the bike and reattach the seat. The forward ROK straps are now firmly locked into place...easy on, easy off.
I then connect the ROK straps in a criss-cross pattern over the bags and tighten the straps. Voila!
Key to Pics:
First, shows the way the ROK straps connect to form a cross pattern. And yes, I agree that it is disturbingly reminiscent of a certain scene from Pulp Fiction. The blue ring at the center is a carabiner style key ring I bought at Walmart for a couple bucks. The carabiner makes it easy to slip the loops onto the ring and lets them form a cross pattern. It also helps, when they're not being used, to keep all of the ROK straps in one place.
Second, with the passenger seat removed, shows the ROK strap looped around the helmet locking point. I am a bit concerned about how this will wear on the seat edge, but I used the soft, stretchy part of the ROK strap and I will take care not to overly tighten the straps. We'll see, but I do think there's a chance of chewing up the seat edge.
Third shows my mop bucket tied down to the seat. The point was to show how a bag would be tied down in a cross pattern. Running the straps through a bag's D rings would help secure the bag in place. Note that I have bucket oriented in its waterproof setting.