ABS is one of the two plastics most people use, the other being PLA. There have been many discussions on these forums on the relative merits of both. The reason you don't see much about the actual extrusion on the Prusa Mendel page is that the extruder is considered kind of a separate part. Mendel, Prusa Mendel, Huxley are all designed to take interchangeable extruders. The most common extruder design is some variant of
Wade's Extruder. That paired with a variety of hot ends (the nozzle that heats up and the thermal barrier to keep it from melting the rest of the machine) is what lays down plastic. Example hot ends are
Arcol hotend,
Wildseyed hotend,
Adrian's hotend,
Makergear hotend. I personally use the makergear hotend but people have had success with all of these.
For almost all of these extruder designs you'll need plastic in the form of a filament, most commonly 3mm but people are experimenting with 1.75mm. A good distributor of filament in the US is
Ultimachine but there are many others.
Hope this helps get you started.