I created and published an android app that bundles my ISATAP client daemon and provides a configuration front end. To run the binary on android, it requires root access, i.e. a rooted device or phone.
On my Galaxy S3 with Cyanogenmod 10.2 I successfully get a IPv6 address using the app. 😀
If you have a rooted phone and an ISATAP infrastructure close by, please feel free to give it a try:
The app is open source, with code being available on GitHub: https://github.com/shlusiak/isatapd-android
The source tree also contains a pre-compiled isatapd binary to be used in your own distribution or scripts.