In this study, we developed Android-based controller for humanoid robot. In conventional hobby robots, a specialized controller with low-performance microcomputer was mounted, so it is not suitable for high-load computation, such as image processing or real time gait generation. Then, we attempt to replace it with a Android terminal. Android terminal are easily obtainable, lower cost, highly performance, and quick release cycle. We conducted some experiments to walk on a slope using an acceleration sensor on Android terminal by solving real time inverse kinematics for leg motion.