Simulating　biological　intelligence　has　been　proved　to　be　an　effective　way　to　design　intelligent　robots,　and　simultaneously　can　solve　the　problems　existing　in　machine　learning　methods.　For　creatures,　their　motor　skills　achieving　is　the　first　stage　of　learning.　By　combining　two　important　cognitive　elements:　orientation　and　curiosity,　this　article　proposes　a　new　neurobiologically-inspired　sensorimotor　developmental　learning　method　for　the　mobile　robot.　In　this　method,　curiosity　promotes　robot＇s　exploration　of　the　environment,　while　orientation　enhances　robot＇s　exploitation　knowledge　of　the　environment.　The　orientation　cognitive　algorithm　is　designed　based　on　Skinner＇s　operant　conditioning　theory,　and　its　rationality　is　proved.　The　balance　of　exploration　and　exploitation,　which　is　a　key　problem　for　all　the　cognitive　learning　method,　is　solved　in　this　method.　The　developmental　learning　process　can　avoid　fixed　sensorimotor　mapping　space　problem,　and　help　reduce　learning　waste　as　well　as　computing　waste.　All　of　the　developmental　learning　method＇s　characters　are　finally　verified　via　simulations　on　a　virtual　mobile　robot.