You could create a filter that calls encodeURIComponent
E.g.
var app = angular.module('app', []);
app.filter('encodeURIComponent', function() {
return window.encodeURIComponent;
});
Then do
<a href="#/foos/{{foo.id | encodeURIComponent}}">{{foo.name}}</a>
Running example: http://jsfiddle.net/YApdK/