In Dark Souls for the PS3 and Xbox 360, the Taurus Demon guards the main path in Undead Berg to the Upper Section.
The Taurus Demon is large, and the pathway isn’t that much wider than he is, making it difficult to maneuver around him. When you encounter him, you’re probably not strong enough to go toe-to-toe with him, so luckily there is an easier way to defeat him.
Right as you come out onto the pathway where the Taurus Demon drops down, look to your right and you’ll see a ladder going up. Go up the ladder and kill the two archers at the top.
Climb back down the ladder and proceed up the path until the Taurus Demon drops down. Turn around and run back to that same ladder and climb up again.
You’re not going to stay up here long, because after a few moments the Taurus Demon will jump up here to fight you. Instead you’re going to jump off of the platform and do a Plunging attack (RB on Xbox 360 or R1 on PS3 as you’re falling), which does quite a bit of damage to it. Once your attack lands, move as quickly as possible back to the ladder and repeat the process.
Depending on your weapon, it might take three of these attacks to kill it. However if you’re quick enough, you can lock on to it and either hit it with some magic, or a Firebomb to do extra damage before your Plunging attack.
Using this method, I was able to drop a Firebomb and then perform a Plunging attack. Doing this twice killed it, taking very little (if any) damage.