Try contact cement (aka rubber cement?). Just the normal stuff in the brown jar with brush attached to lid, sold in stationery dept. It's what I use when I wanna semi-permanently attach things.
It doesn't bond with the strength of epoxy, nor does it stick to everything. But if it does stick it holds well enough, but also allows the items to be easily separated in the future, if you need to. Just pry them apart with a little force. I've never had any damage. The rubbery residue can usually be cleaned up by simply rubbing it off with a finger, or with some nail polish remover (or thinners or Goo Gone, etc).
I've successfully used it to attach hockey pucks to maple butcher block (for a subwoofer stand), and a metal washer to my metal tonearm counterweight (to make it heavier).
Can't guarantee the contact / rubber cement will stick to Herbies (or whatever feet you are using), I've never tried it.