Communication with third party controllers

I would like to know if its possible to pair my Arduino Uno to communicate in both directions with a Robotis CM 530 controller.

In detail, I would like to be able to send a command from my CM 530's wireless controller to the CM 530 and from there to the Arduino Uno to begin a sequence of actions and also be able to send signals from the Arduino Uno to the CM 530 to start another sequence.

If so, are there any resources to which I can refer to? And if not, what alternatives can I consider?