Actually, there is a way to eliminate poverty without taking anything from anybody. The solution is a "democratically distributed income." It would not be paid to all citizens, but any (adult) citizen could become eligible for it. The money for that income would be free. It would be created as needed. The total of that income would be the supply of money (as currency) for the economy.

"For Crying Out Loud, Accept That A Solution Actually Exists" (a "3 min read” — including options for further reading — here in Medium)