Can I clear my iPhone if someone took it?

I have an iPhone 4S and it was taken. If they get the password they have access to all the information within it so I was wondering if there was any way I could clear it with using just a computer since I don't have it in my possession.

I don't deal with apple products but this may help.

iCloud: Erase your device

http://support.apple.com/.../kb/ph2701

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