I think the key to doing this the easiest way would be to think in terms of getting from Palm --> Google, then everything follows once you're running android because you're syncing with that by default. I haven't personally gone through the process but a quick search found this:
En.dogeno.us – previous CaiLog How-To Sync contacts from Palm to Google for iphone or Android etc
That's rather techie and fidgity, though... someone else may know of a utility.
DT