Routes Refactoring

I have a simple rails3 app that has three nested resources:

Team has_many Groups Group has_many Tools

To build the app quickly, I used standard restful practices, giving URL's like:

/teams/1 /teams/1/groups /groups/1 /groups/1/tools /tools/1

Now I'd like to make the URL's more readable:

/<team_name> /<team_name>/<group_name> /<team_name>/<group_name>/<tool_name>

How should I set up my routes file to make this change? Can the same controllers handle both route schemes?

Thanks, Andy