what i did, wrap rubber bands around the pole, just underneath the handle, then put it in a vice (rubberbands provide a lot of friction so the vice doesn't have to be tightened to the point where it will damage the tube)
then take a waterboiler/kettle and pour hot water over the grips and pull em of with a twisting motion ....
once they're off, take a little pipecutter and cut the poles on the desired length, then take a rubber mallet and hammer the grips back on (might need a little masking tape underneath the handle to secure it tightly if the poles are a bit thinner ....
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