J.V.
I agree with everyone who suggested using a baby gate. Let her cry it out and if she ends up sleeping on the floor I wouldn't move her to her bed but instead put a blanket on her. My son use to sleep on the floor because he didn't want his bed and I would let him until he wanted to sleep in his own bed. I also would try to play some soft music in her room and a nightlight.
I would stop holding her all together so that way she can learn on her own that she's ok and it's ok to sleep without anyone holding her.