Yes. With the right settings, techniques, and vacuum type, vacuum cleaning is possible.
Settings: Low suction and low power mode. Generally labeled as "hard floor" or "low pile carpet." The beater bar/brush should be turned off.
Attachments: Use handheld attachments (if available, without bristles, brushes, or beater bars)
Technique: Instead of the traditional push and pull motion, using only the pull motion is recommended. Avoid vacuuming the edges and corners.