You'll need the taunter for this. Once you have it, explore Orxon and soon enough you'll come across a forcefield with some of the creatures with pincers behind it. Before you deactivate the forcefield, bring up the taunter and hit R1. This will provoke it into attacking you, but it will instead hit the forcefield. After it makes the second or third attempt to attack you, the damage it takes from the forcefield will kill it, and up comes the trophy.