Well, not really.

Gravity is keeping us on earth, anything with mass attracts other things with mass, earth is really big and we're really small so we're pretty stuck here. Unless we have enough velocity to escape.

Centrifugal force would do the opposite if gravity wasn't taken into account, and also centrifugal force is a non term now the term centripetal is used.

But this doesn't really relate to the question at hand, I guess.