Uki-gatame (浮固), the floating hold.

Osaekomi-waza (hold-downs).
Required for: 4th Dan (black belt, British Judo Association); 5th Dan (black belt, British Judo Association).

About
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The floating hold: tori kneels at uke's side, controls the near arm and pins the upper body with the chest and shoulder while carrying their own weight on knees and feet rather than lying on uke. Added to the Kodokan's hold-downs alongside Ura-gatame, and familiar as the control position from which Juji-gatame is set up.

Step by step (standard right-handed form)
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1. Your partner is on their back and you are kneeling at their right side, facing across them.
2. Trap their right arm between your knees or against your body so their near shoulder cannot turn away.
3. Place your chest and shoulder across their upper body, keeping your hips high and your weight over your own base.
4. Post your left hand or foot wide on the far side so you cannot be rolled towards it.
5. Hold their shoulders to the mat while staying light enough to move; the hold counts while their back is controlled.

Key points
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1. Weight on your knees and feet, not resting on them
2. Trap the near arm and keep their shoulders flat
3. Stay upright: the float is what makes it mobile

Receiving it
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Unlike the heavier holds, this one does not lie on you: your partner is above rather than across, and the pressure comes through one shoulder and their control of your near arm. Free the trapped arm first, since everything else follows it, and bridge towards the side they are NOT posting. Tap if an arm starts to be isolated and straightened.

VI judo notes
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This hold keeps your weight on your own base, which leaves you less contact to read them by, so make it up elsewhere: their arm trapped between your knees, your chest across their shoulders, a hand or foot posted wide against a roll. It is also where juji-gatame is set up from, so being able to find and keep it by feel is worth the drilling.

Reference pages elsewhere
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Uki-gatame on the IJF technique reference (International Judo Federation): https://judo.ijf.org/techniques/Uki-gatame

From Waza Book: https://wazabook.com/techniques/uki-gatame/