Aiming　at　the　movement　balance　problem　of　the　twowheeled　robot,　the　operant　conditioning　theory　of　artificial　cerebellar　sensorimotor　systems　is　used,　and　the　theory　adopts　a　learning　mechanisms　of　Skinner＇s　operation　conditioned　based　on　the　learning　algorithm　of　recurrent　neural　network,　through　learning　and　training,　the　two-wheeled　robot　can　obtain　the　skills　of　movement　balance　control　like　a　robot　or　animal　in　the　process　of　gradually　forming,　developing　and　improving　by　selforganization.　The　simulation　results　show　that　the　Skinner＇s　operation　conditioning　has　such　a　virtue　of　stronger　self-learning　ability　and　higher　robustness.　©　2009　IEEE.