You forget Dooku was Yoda's apprentice when he was just a padawn. He's very aware of his former masters abilities, and though he's a skilled duelist, he knows he cannot overtake Yoda in one-on-one combat, and is eventually forced to pull that telescope thing onto Obi-Wan so he can escape.I always wondered why for Yoda, the most (or just one of the most?) powerful Jedi, would need to jump around in order to fight rather than just control his lightsaber with his mind, or...simply make Dooku stoop to fight; that seems like a great advantage on its own. Also that all his joints and muscles would go to shit between ages 875 and 900...but then I'm not a yodaphysiologist, so maybe that's exactly what happens when 900 years you reach.
I've never heard of Yoda using the floating lightsaber technique; that is something that can be done with the force but seems to be incredibly rare and difficult. Darth Traya used 3 floating lightsabers in conjunction with eachother, so it may be an ability rooted in the dark side.
If you want to read about Yoda and Dooku's relationship I highly recommend Yoda: Dark Rendezvous. And that's not even the best Clone Wars novel!