You're asking about a while loop. Robot doesn't have a while loop. There's simply no support for it, and robot probably won't support it until at least 2021. The only looping construct is a for loop.
You seem to have an aversion to setting a limit of 20, but there must be a practical limit to the number of iterations, whether it's 1,000, 10,000, or 1 million or more. Just use a FOR loop that has a huge upper limit, and for all intents and purposes you've created a while loop.
FOR ${item} IN RANGE 1000000
Exit FOR loop if <some condition>
${counter}= evaluate $counter + 1
END
While it doesn't look quite as pretty as While <some condition>
, the end result will be the same, assuming your condition becomes true at some point before one million iterations.