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The algorithm also inherits the advantages of the ABA: versatility and low computational cost. The IABA provides a method to determine the impact impulse, without increasing the order of the algorithm.<\/jats:p>","DOI":"10.1017\/s0263574710000524","type":"journal-article","created":{"date-parts":[[2010,9,1]],"date-time":"2010-09-01T14:44:14Z","timestamp":1283352254000},"page":"649-656","source":"Crossref","is-referenced-by-count":0,"title":["Simulation of rigid-body impact using the articulated-body algorithm"],"prefix":"10.1017","volume":"29","author":[{"given":"Andr\u00e9","family":"Carvalho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Afzal","family":"Suleman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,9,1]]},"reference":[{"key":"S0263574710000524_ref15","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066619"},{"key":"S0263574710000524_ref2","unstructured":"2. 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