<p>Exploration, which is important for sensorimotor development, is said to be realized by intrinsic motivation. Intrinsic motivation is "the doing of an activity for its inherent satisfactions rather than for some separable consequence". It is not clear how exploration is driven by intrinsic motivation. In this study, we conducted an experiment comparing behaviors with or without intrinsic motivation using a computational model of intrinsic motivation. As a result, intrinsic motivation drives the exploration to emerge more posture and action and the exploration to touch environment continuously. In addition, an agent with intrinsic motivation reproduces behaviors with high coordination, which is one aspect of early sensorimotor development.</p>