Permalinks

Can anyone point me somewhere to explain how I can get permalinks like below.

http://www.mydomain.com/taxonomy/parent-term/child-term/postname/

I’m having a nightmare, all I need to do is this (seems so simple)

http://www.mydomain.com/taxonomy/
(to show list of terms with parent=0 from the taxonomy)

http://www.mydomain.com/taxonomy/parent-term/
(to show child terms of the parent term)

http://www.mydomain.com/taxonomy/parent-term/child-term/
(to show a list of the posts in term)

http://www.mydomain.com/taxonomy/parent-term/child-term/postname/
(to show the post)

I just can’t get my head around the permalink structure. I have multiple post types as well. Any ideas?