It should be called horizontal bar with arms, which is the most common action in street fitness. The lever on one arm goes up with one hand and then the other hand, and the arms go up with both hands.

If you can do 15+ standard pull-ups (without shaking or borrowing straight up and down), you should be able to practice one arm. Do pull-ups (slightly higher than ordinary pull-ups, preferably over the chest), and the triceps brachii should have the strength to do push-ups or bend its arms on the parallel bars when supporting.