Android GUI & Arduino

I am in the planning stages of my first Arduino project, a robot with numerous servos, and would like to have a Graphic User Interface running on an Android tablet to control the robot. It would be easiest to work in a PC environment and download the GUI to the Android. Keeping the user interface graphic would make it much easier for the operator to control a large number of functions on the robot from the touchscreen since the icons could visually indicate the function and relative location.

I am getting the hang of controlling multiple servos from serial data received by the Arduino but I don't know what software I would need to develop and implement the Android-based GUI.

Any suggestions from experienced Arduino-ites would be welcome!

Thanks.

For creating simple GUI apps on Android you can use AppInventor: http://appinventor.mit.edu/explore/