Yup. Somebody has proposed a very clever way to do it. Every thousand years or so, you kick a biggish hunk of rock out of the asteroid belt and swing it in a near-miss hyperbolic swing past Earth. If you aim right, most of the angular momentum of the asteroid gets transferred to us, it falls into the sun or something, and we get a small boost.
How do you eject the asteroid from its belt? Just swing a smaller asteroid past it. Continue this chain backwards and it turns out to take a vanishingly small amount of energy to kick off the entire chain; you just have to aim the first rock carefully, but it's all perfectly feasible.
There's *lots* of angular momentum in the asteroid belt, and you can transfer a lot of it to Earth. Some calculus would be involved.
I'm not overtly religious, but if some critter did intelligently design this universe and especially this solar system, it was a damned fine piece of engineering. That asteroid thing was a very nice touch, just waiting out there for us to push the button.
John