Yes, the Sharp Zaurus (SL-5500, SL-5600, etc.) are capable of running Perl.
I wrote a tutorial on installing Perl 5.6.0 on the SL-5500 with a minimal amount of extra memory in the form of either a CF or SD card. You can find it here: Installing Perl on the Sharp Zaurus PDA. The biggest problem with this port is its lack of the full set of core modules, and POD.
In the months since that was written, someone's ported 5.8.0 over to the Zaurus platform as well, but its requirements are more hefty: You need a 256MB CF card formatted for EXT2, if I recall. You should be able to find both ports at http://www.killefiz.de/zaurus/.
One of the things I use my Zaurus for the most is as a handheld POD reference. It is great for that. I loaded ActiveState's HTMl-ized POD onto a CF card and view it with Zaurus's Opera browser.
I also moved my Perl CD Bookshelf (O'Reilly) over to the same CF card, and am able to read it with the Opera browser as well.
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