Not so much. Gliese 581d has a radius 2.2 times that of Earth. Assuming it is a terrestrial/rocky exoplanet and not gaseous, it would have an approximate density of 9.888 g/cm
3, or 1.795 times that of Earth. Furthermore, Gliese 581d has a mass that ranges from 6.98 to 13.8 that of Earth. If you use the lower estimate that would give Gliese 581d an approximate surface gravity of 68.45 m/s
2, or ~7 G. There is also evidence to suggest that exoplanets larger than 1.6 Earth radii are not terrestrial/rocky.
A better choice might be Kepler 102f. It is a little to close to its star to fall within the habitable zone, but its mass and radius give it an estimated gravity of 0.86 G. So while Kepler 102f would be uncomfortably hot, it might have a surface gravity that terrestrial life would find accommodating.
Sources:
Most 1.6 Earth-Radius Planets are not Rocky - The Astrophysical Journal, Volume 801, Number 1, March 2, 2015 (free issue)
The Mass-Radius Relation for 65 Exoplanets Smaller than 4 Earth Radii - The Astrophysical Journal Letters, Volume 783, Number 1, February 13, 2014 (free issue)