Ranged attacks will be your best friends. All of this creatures attacks shred armor durability. Attacking it with melee will also destroy your weapons durability as well as damage you. It's like stabbing a corrosive spike wall. If you are using a tame make sure it has high health or a way to heal quickly.
Found in almost every caves except the underwater , Lava and Snow (they don't like extreme weather I guess) easiest taming methods lure it into water and let it sink to bottom, no oxygen stat so won't drown, go and feed it spoiled meat, tame it , put a saddle and get out :)
Don't use a sword or any melee weapon because it breaks them and keep a distance and bring a long range weapon and if you hate bugs especially when they to the point of being a footipede instead of a centipede then that will always work but watch out for others too!
Those who say it's very dangerous are crazy. Just bring a long neck rifle, one shot or two and boom. The first time I entered the South Cave, I tamed an scorpion and it significantly helped me to take care of the Arhtros and Boas.
Most of the creatures have arrows in their loots, so if u prefer a ballesta to deal with these bad boys, you are not running out of ammo any soon.