@article{Brogliato.ea.2002,
  author	= {Brogliato, B. and Dam, A. A. ten and Paoli, L. and Genot, F. and Abadie, M.},
  title		= {Numerical simulation of finite dimensional multibody nonsmooth mechanical systems},
  journal	= {ASME Applied Mechanics Reviews},
  year		= {2002},
  volume	= {55},
  number	= {2},
  pages		= {107--150},
}