This work investigates how people learn to perform lower limb control in a novel task with a hoverboard which requires maintaining dynamic balance. An experiment was designed to investigate the learning of balance and control strategies: i.e. hip versus ankle strategy. Motor learning was indicated by a decrease in total muscle activation and time to complete a trial. The results further show that participants with no prior experience of riding a hoverboard learn an ankle strategy to maintain their balance and control the hoverboard. This is supported by significantly stronger phase synchrony and lower dynamic time warping distance between the hoverboard plate orientation, that controls hoverboard motion, and the ankle angle when compared to the hip angle. A decrease of 14.2% in the co-activation of the muscles acting on the ankle joint also confirms the adoption of the ankle strategy. The adopted ankle strategy is robust to the foot orientation despite salient changes in muscle group activation patterns.