The Brazilian gave the interview four days before he was sacked on Monday after just seven months in charge, in the wake of the Premier League side's poor run of form.
"At Chelsea, we don't have a player who can make the difference by himself and do something magical on the pitch," Scolari said in the interview published on Friday.
"Robinho would have been that player. He is not afraid to dribble, to take risks," he said, referring to the Brazil and Manchester City striker. "It (Chelsea) is a bureaucratic side. That is the style of my players. That is why Robinho would have done a lot of good to us."
Ivory Coast striker Didier Drogba had been that player at Chelsea before this season, but Scolari dismissed the idea he could have been very influential this term.
"With my squad, it is very difficult to play with Drogba," he said.
"With Drogba and (Nicolas) Anelka up front, who would play on the wings? And in the middle? So I must choose between Drogba and Anelka.
"Drogba lacks confidence at the moment. After two or three big injuries, he is still missing something. For the moment, he is still under par."
Scolari, who won the 2002 World Cup with Brazil before moving to Europe, said he missed the special relationship he had with the Portugal players when he was their national coach.
"On the pitch, the relationships with my players are good. But it is true they are not the ones I had with the Portugal team. I spent five years over there.
"In Brazil, it is also more simple. I knew everything about my players," he said. "Here, I don't have a family relation. Everything is on the pitch. Off the pitch, there is nothing."
Scolari, who has been replaced by Guus Hiddink, also hinted Chelsea captain John Terry was a bit short of support within the squad.
"I was supportive of him, of course," he said. "And I am sure two or three other players could say the same."
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