By using the learning automaton as a mathematical model, and combing the Skinner’s operant conditioning theory, a sensorimotor system is established. The system consists of nine parts: the sensory state set, the motion set, the sensorimotor orientation mapping set and etc. The concepts of curiosity and orientation are introduced to the system, and the mechanism of intrinsic motivation is designed which can learn the environment actively. The orientation learning process is defined and analyzed, and the convergence of the system’s entropy is proved. Based on the famous Skinner’s pigeon experiment, the system’s feasibility and effectiveness are proved. The experiment results show that the system has good properties of self-learning and self-organizing as well as high stability.