Yes - and it should be pretty easy. The robot is controlled by an Arduino board, these include a usb port to allow serial communication. I do not have an iphone or Android, however I have often controlled robots through the serial port of a Netbook. Many poeple have done the same using iphone and Android.
Example (not my own) of arduino Iphone controlling Arduino:
Examples (mine) of motion controll using a netbook and arduino:
Thank you for asking this question -- it seems that Iphone projects are more succesful on kickstarter -- would you be more likley to back a robot project like this one if it included the use of an Iphone.
It is funny -- I personnaly don't need or want an iphone (I am usually at a computer and phone anyway) -- but I am thinking about getting one just to use in projects like these.