Methods and devices for picking up containers using a lifting-container device are disclosed. The container-lifting device may include a lifting fork, a friction contact surface, and a passive lifting mechanism. The passive lifting mechanism is coupled to the lifting fork and the friction contact surface on the two ends. The friction contact surface is configured to lift a target container. The lifting fork is configured to slide underneath the target container when the container is lifted. The passive lifting mechanism may transfer a fraction of a forward momentum of the container-lifting device into an upward momentum, and the friction contact surface may lift the target container by applying an upward friction force to one or more sides of the target container as a result of the upward momentum.