The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots. Design issues are outlined as requirements and performance for parallel mechanisms in humanoid structures. The example of LARMbot humanoid design is presented as from direct authors’ experience to show an example of the feasibility and efficiency of using parallel mechanisms in humanoid structures. This work is an extension of a paper presented at ISRM 2019 conference (International Symposium on Robotics and Mechatronics).