Android handset used as remote control for Lego MindstormThis article contains unofficial information.
Movement is signaled by tilting the handset and the user can switch back and forth between different robots to control. The actual set-up is a bit convoluted because the Android 1,5 OS in the Hero doesn't support the Bluetoth serial profile. Instead, the Hero is linked by Wi-Fi to a nearby laptop uses its Bluetooth connectivity to link to the robot. Android 2.1 will support the Bluetooth's serial profile, so a Nexus One should be able to make a direct link without the laptop.
HTC Hero CDMA Specifications | Review
source: ENEA via AndroidCommunity