Also, you can't upload anything to your iDevice without signing up for a $99/year developer account. Emulator only if you don't pay up.
Android you can do whatever you want, but if you want to use the Android marketplace it's $25 one time. But you don't need to pay that just to put it on your device. Plus if you do want to publish your app, you can also use an alternative marketplace like Amazon or one of the countless others that send me spam.