There's a video on youtube showing how to remove the battery, but it involves taking the phone apart. If all you need to do is reset the phone, use the technique described in this thread.
As mentioned, battery removal is not possible from a user standpoint. However, battery life on these phones has been very good and with the battery pull simulation, battery pull doesn't seem necessary. Sure, there are users who think that's a deal breaker because they are used to carrying multiple batteries with them, but most users will find this to be acceptable.
It's true that the battery is not removable. If you need to do a full soft reset (equivalent to a battery pull), it can still be performed by holding the power button for 10 seconds until the device powers off. This is helpful if your device is not responding.