Well, I certainly can't say that as a fact since only the Android team would know the truth. However, from the video in question it's pretty obvious that if a touch-screen version of Android was in development at the same time in 2005, the UI was not anything like the touch UI we have on Android or iPhone today. It was the same unintuitive, clunky and slow trash we had on resistive screens for ages.

That is where the "iPhone ripoff" claim comes in. Ripoff is too strong of a word, but it certainly had a huge influence on the direction of Android.