It all depends on who has registered the name and when it is due to expire. Some companies will let names drop when they expire if they don't get much traffic - you may be able to wait it out and catch the name when it does eventually drop. Be warned though, this can take several months. If you want/need the name NOW, you could be asked to pay $300-400 or more.
When I went to register my business name's .com (I already had the .com.au which I had been using for a number of years) only to find that KenyaTech had registered it. I did some research and found they were a dubious operator at best, so I left it alone and waited for the registration to expire. When the name first dropped, a domain kiter snatched it, but dropped it after 5 days then a second kiter snatched it and I finally got the name 5 days after that. All up, I had to wait about 4-5 months from when I first went to register the name. For me that was not an issue, as I have been using the .com.au and did not need the .com in a hurry.
If you are going to wait and try to catch the name when it drops, it is best not to visit the page or enquire if the name is for sale, otherwise that will tip them off hat you want it and they could very well renew the registration and/or raise the asking price.
As far as legal recourse for getting the name, you proobably have no chance. Under normal URDP rules, you must show that the person registering the name has done so in bad faith. If you have only just registered your business name, the current owner of the domain can easily refute the bad faith claims and your URDP claim will be rejected. If they registered the domain after you registered the business name you may have a case.