You could try 'Remote For iTunes'.
Officially it doesn't support ATV, but the devs state,
"Apple TV and other DAAP/DACP servers are not supported. While many users report success in using Remote for iTunes with their Apple TV configuration, we do not actively test it in-house and therefore cannot support it. We encourage Apple TV users to take advantage of the Android Market trial period to see if Remote for iTunes is a good solution for their configuration."
http://hyperfine.com/remoteforitunes/tips.aspx
The free trial version of Remote For iTunes is on the Market HERE