replace(/[^a-z0-9\s]/gi, '') will filter the string down to just alphanumeric values and replace(/[_\s]/g, '-') will replace underscores and spaces with hyphens:
str.replace(/[^a-z0-9\s]/gi, '').replace(/[_\s]/g, '-')
Source for Regex: RegEx for Javascript to allow only alphanumeric
Here is a demo: http://jsfiddle.net/vNfrk/