What is the purpose for floating bar? If you want to use menu bar at this location, this plugin will help you http://wordpress.org/plugins/genesis-sticky-menu/ you need a little tweak to place at footer.
If you want some other stuff on the floating bar, this tutorial will help you to understand how to do the stuff. http://www.blogsynthesis.com/sticky-share-bar-genesis-framework/
Try these http://wordpress.org/plugins/search.php?q=sticky+footer+bar
Or Hire some one
