The following was found in the news section of the Mindstorms website...
The MINDdroid app is a remote-control application that allows you to create a wireless connection directly with your NXT, and once a connection is established, you can tilt and turn your phone to make the robot move forward, turn to the sides, and more. Now there is an updated version that gives you new features and activities.
Read more about it here. I don't own an Android phone, so I can't try it out. I'll ask around to see if any of my friends have one I can borrow though. I'd love to hear about it if any of my readers try it out.
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