Starting a floor bed with a toddler

I originally wanted to start our daughter on a floor bed when she was born, but with nursing difficulties and low weight issues, she ended up sleeping in a co-sleeper crib that was attached to our bed.  When she gained weight and the time came to move her into her own room I became nervous to put her on the floor so we opted for a crib.  Now she is 14 months and still needs me to nurse her to sleep. Lately, when we put her in her crib after nursing and rocking her to sleep she instantly wakes up.  She still wakes up  two to three times a night looking to nurse to get back to sleep.  I understand and believe in the philosophy of the floor bed for healthy freedom and development of the child and would prefer to use one, but am not sure how to go about it with my daughter who is already 14 months and not accustomed to it- as well as not being a great sleeper.  Any suggestions?