The binaural room impulse responses (BRIRs) for different head orientations are captured by using a dynamic measurement technique. A head-and-torso simulator is continuously rotated on a turntable while the system is excited by a periodic perfect sequence. Infrared reflective markers are attached on the head, in order to capture its orientations using an optical tracking system. The responses at the outer ears and the head orientations are recorded simultaneously. The BRIRs for selected orientation angles are then computed by using a time-varying system identification method. The performance of the proposed method is evaluated by comparing the BRIRs obtained from a dynamic measurement and a conventional static measurement.