1. A telepresence robot, comprising: an upper portion; a lower portion rotatably connected to the upper portion; a drive system configured to move the telepresence robot according to drive instructions; a control system in communication with the drive system, the control system configured to generate drive instructions to cause the drive system to move the telepresence robot; and a rotation system configured to rotate the robot from a first heading to a second heading by rotating the upper portion and the lower portion independently.