Complex sentence: The Centurions possess less of a human-like structure, averaging to be at least a head taller than most humans, however they do retain the bipedal structure of the first model, as well as rough hands and feet.
Split into simpler sentences: The Centurions possess less of a humanoid structure, averaging to a head taller than most humans. They retain the bipedal structure of the first model, as well as rough hands and feet.