<p>In this paper, we present a modular and cohesive robotic platform that can be used for Android sensor data acquisition and robot control. This is possible thanks to the availability of a range of internal sensors and communication protocols in consumer-grade Android devices. Our proposed system can acquire data from multiple internal sensors such as different configurations of cameras, accelerometers, gyroscopes, magnetometers, and location sensors, as well as external devices attached via USB and record them in a raw format suited for robotics and pose-estimation purposes. Moreover, our system can be utilized to implement general-purpose remote-controlled robots. In this case, we provide all the necessary hardware and software components including the remote desktop or mobile command station equipped with a Wi-Fi or Bluetooth wireless connection, the Android middle-ware for receiving remote commands and processing sensor data, and a microcontroller device attached to the Android platform via USB for generating low-level control signals. We statistically analyse the sensor data recorded by our system and show that processing the sporadic and noisy data gathered from commercial mobile devices for the pose estimation is a challenging task. We also study the latency and throughput of communication links and demonstrate the importance of a reliable communication interface for mobile robotics by using a closed-loop robot control experiment and two manual control examples.</p>