Please test the upcoming 2.6.20-4 kernel. I saw a fix go in that sounded similar to your problem.
** Changed in: linux-source-2.6.20 (Ubuntu)
Importance: Undecided => Medium
Status: Unconfirmed => Confirmed
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system continuously boots/reboots when usb wireless keyboard is plugged in
https://launchpad.net/bugs/42297
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