Folks at elinux.org have successfully ported Android (m5-rc14) to Nokia N810 tablet, well, TI's OMAP SoCs to be more general. Android has been already ported successfully to Sharp Zaurus SL-C760,SL-C3000, Armadillo-500 and several other OMAP 1 & 2 boards.
The Wiki offers specific instructions right from compiling, extracting the system files to booting the system. The screenshot below shows a m5-rc14 kernel with m3 image.
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