I recently updated an app I wrote for controlling robots from an iOS device (an iPhone, iPod, or iPad). The app uses an embedded web server to permit connecting to the iOS device using a web browser, and captures images from the device camera to return to a web page displayed in the browser, and permits using the browser to send commands to the robot. The app is about 3 years old, but the older version used photo-electronics to communicate from the iOS device to the robot body, the new version uses Bluetooth. The video shows the app and a robot, and the parts list and Arduino sketches and information about putting the robot together is at: http://www.eyesbot.com/blog/?preload=eyesbot_app_robot.txt
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/ios-robot-controller-app