This is how I ended up solving it, per http://support.apigee.com/apigee/topics/how_do_i_define_a_request_representation_with_nested_values_e_g_foo_bar_baz
<request>
<representation>
<param name="foo_bar" apigee:paramName="foo[bar]" required="true" type="xsd:string" style="query" default="baz">
</representation>
</request>