Changing only what's after hash - old browsers
document.location.hash = 'lookAtMeNow';
Changing full URL. Chrome, Firefox, IE10+
history.pushState('data to be passed', 'Title of the page', '/test');
The above will add a new entry to the history so you can press Back button to go to the previous state. To change the URL in place without adding a new entry to history use
history.replaceState('data to be passed', 'Title of the page', '/test');
Try running these in the console now!