Here is a nice trick that I found:
With a device that has iOS 11 installed, pair your AirPods and configure what you want the AirPods to do via double tap.
When you go to use your AirPods on a device with iOS 10 installed, you'll still have those gestures. However, you won't be able to customize them from that device in the same way an iOS 11 device can. Also, changing the settings from iOS 10 will clear the functionality.
With a device that has iOS 11 installed, pair your AirPods and configure what you want the AirPods to do via double tap.
When you go to use your AirPods on a device with iOS 10 installed, you'll still have those gestures. However, you won't be able to customize them from that device in the same way an iOS 11 device can. Also, changing the settings from iOS 10 will clear the functionality.