Need help in connecting Arduino with Dynamixel RX-64

Just in case that I miss the data transmitted.

I'd say you're pretty much guaranteeing that you will miss data, in very nasty, creative ways.

Think.

Test if there's a character available.
An interrupt happens to occur before the "read", and character is put in the receive buffer.
Interrupt returns, and you read the character, 'cos that's what your loop does.
Test to see if there's a character available.
Oops.

Don't do anything in the "while" loop.