Use the Google Maps XML API as follows:
require(XML)
burl <- "http://maps.google.com/maps/api/geocode/xml?address="
address <- "2440 Seattle, 98116 WA US"
request <- paste0(burl,URLencode(address))
doc <- htmlTreeParse(request, useInternalNodes=TRUE)
xmlValue(doc[["//formatted_address"]])
[1] "2440, Seattle-Tacoma International Airport (SEA), Seattle, WA 98158, USA"
EDIT
If you only have a coded URL, use URLdecodeto decode it instead of loading the URL:
URL <- "https://maps.google.com/?q=loc%3A+%32%34%34%30+Seattle%2C+%39%38%31%31%36+WA+US"
URL <- gsub(".*loc","",URL)
URL <- URLdecode(URL)
gsub("[:]|[+]", " ", URL)
[1] " 2440 Seattle, 98116 WA US"