Can you voluntarily develop a new stim?

I sometimes "test out" more common stims (like hand flapping) just to see how it feels. I've noticed that jumping while flapping my hands feels good and makes me feel excited for some reason. So I was wondering if stims always have to be voluntary, and if you can kind of teach yourself a new stim? I'm also worried about it being weird since it's not something I usually do in front of other people.