If you're any good at Perl, then you can learn C. If you aren't any good at Perl, then you might as well learn C.
Putting a Perl program in a microcontroller would be like putting a manufacturing plant on a robot, just to have it handy to make parts for the robot. But the robot would be a bit bloated and inefficient.
Putting a C program in a microcontroller is like custom designing high performance parts in a lab and them mounting the parts in the robot.
Either way, you've got to make the parts.