Embossing is done in Photoshop by a slight shifting a copy of the layer and applying a layer blending effect (this is what the 'emboss' filter does in the background).
You should be able to do a similar effect in Illustrator 9 or 10 with three layers. The bottom layer is your original object. The next layer up is a copy of your original object that has been offset a bit, colored black and set to a transparency of about 30% to give the shadow impression. The top layer is another copy of your object used as a mask for the layers below and positioned in the same place as the original object.
You may also check out the Adobe Studio or Expert Center on adobe.com to see if someone else has also encountered this and offered a plugin of some sort.
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