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Is there a name for this type of yoga/balance movement?
I agree; this definitely sounds like what the OP is describing. These types of transitions are called "floating" in Ashtanga terminology.
Yoga for obese male
A good yoga teacher at a beginner's or all-levels class, no matter what style of yoga, should be able to give variations that everyone can do. Yoga is a balance between listening to your body and obeying its limitations, while simultaneously pushing yourself a little more than you think you can go. The best advice is to get a yoga teacher who can give you some individual attention and help you with what YOUR body tells you.