It sounds like you are able to connect via iCam on the iPod touch when connecting via WiFi but you are unable to connect via your Android phone when it is connected to the same WiFi network, is that correct?
You could try clearing iCam's application data by opening your Android's Settings > Applications > Manage Applications screen, selecting iCam, and then tapping Clear Data. That will allow you to re-enter your iCam Login and Password settings.