Abstract: Since the gradual learning process like humans or animals of two-wheeled robot cannot be realized by the traditional control methods, an autonomous operant conditioning automaton (AOCA) is established based on Skinner's theory of operant conditioning for self-balance learning control of robots. A bionic learning algorithm based on AOCA is proposed to balance the two-wheeled robot. The corresponding simulation experiments for self-balance learning control of the two wheeled robot are given, in which the robot effectively realizes autonomous balance. Theoretical analysis and simulation show that the autonomous operant conditioning automata bionic learning model applied to the two-wheeled robot for autonomous balance learning control makes the robot progressive formation of self-organization, development and improvement of its balance.