Defeat the lurker ambush was a mission in The Precursor Legacy that Jak and Daxter completed to obtain a power cell. Upon entering the location of the object the zeppelin was trying to remove from Boggy Swamp, Jak and Daxter were ambushed by a large number of lurkers.
The PlayStation 3 and Vita versions of this mission are related to a trophy named "Twist and Shout". Completing this mission will reward you with a bronze trophy.
After breaking the second tether in the mission "Break the tethers to the zeppelin", and right before the launcher leading to the third tether, is a tunnel with a wooden barrier at the end. On top of this barrier are a number of dark eco boxes arranged in a line. Absorb yellow eco, and from a distance use it to destroy the boxes. Then absorb the blue eco on top of the barrier and use it with the launcher from before the barrier, not the one after it.
Once you land inside this closed off area you will become aware of a number of babaks and swamp rats. There is a nearby cluster of yellow eco. Grab this and use it to fence off the lurker ambush. Use a combination of spin kicks, jumps and punches to avoid getting surrounded. The power cell drops when all opposition is defeated.