Custom Bots

I’m trying to remove the action in the cakephp url and add a slug inflector, to be more clear this is my expected output:
from this: example.com/posts/view/81/This is a test post
to this: example.com/posts/This-is-a-test-post

This is my current code:
That gives me this output: example.com/posts/view/This is a test post

Controller:

public function view($title = null) {
        if (!$title) {
            throw new NotFoundException(__('Invalid post'));
        }
        $post = $this->Post->findByTitle($title);
        if (!$post) {
            throw new NotFoundException(__('Invalid post'));
        }
        $this->set('post', $post);
    }

view.ctp:

$this->Html->link($post['Post']['title'], array('action' => 'view', $post['Post']['title']));

I also tried this one,this link being my reference CakePHP: Use post title as the slug for view method :
Output: example.com/posts/view/21/This-is-a-test-post

Controller:

function view($id) {
        $this->Post->id = $id;
        $this->set('post', $this->Post->read());
    }

view.ctp

$this->Html->link($post['Post']['title'], array('action' => 'view', $post['Post']['id'], Inflector::slug($post['Post']['title'],'-')));

below are the other links that I tried but failed, I also tried the modifying the routes.php but can’t make the proper code to make it work

want to remove action name from url CakePHP
How to remove action name from url in cakephp?
Remove action name from Url in cakephp?

any help/suggestions is appreciated thanks.