To the best of my knowledge, you need 3 additional controllers (that's how I did it).
Go to "Heist", set up 4 controllers, teams aren't necessary, and you'll load into the first map. Once there, take your P1 buddy and wait for the exit to open. Once open, go to the exit and you'll spawn in as a cop with a taser. Knock out your 3 other characters and the achievement should pop.