A mobile robot provides telecommunication service between a remote user at a remote terminal and a local user in proximity to the mobile robot. The remote user can connect to the mobile robot via the Internet using a peer-to-peer VoIP protocol, and control the mobile robot to navigate about the mobile robot's environment. The mobile robot includes a microphone, a video camera and a speaker for providing telecommunication functionality between the remote user and the local user. Also, a hand-held RC unit permits the local user to navigate the mobile robot locally or to engage privacy mode for the mobile robot. When NAT or a firewall obstructs connection from the remote terminal to the mobile robot, an Internet server facilitates connection using methods such as STUN, TURN, or relaying.