I want my urls to use dash - instead of underscore _ as word separators. For example controller/my-action instead of controller/
You can use named routes. It will allow using '-' as word seperators. In routes.rb,
map.name_of_route 'a-b-c', :controller => 'my_controller', :action => "my_action"
Now urls like http://my_application/a-b-c would go to specified controller and action.
Also, for creating dynamic urls
map.name_of_route 'id1-:id2-:id3', :controller => 'my_controller', :action => "my_action"
in this case 'id1, id2 & id2 would be passed as http params to the action
In you actions and views,
name_of_route_url(:id1=>val1, :id2=>val2, :id3=>val3)
would evaluate to url 'http://my_application/val1-val2-val3'.