WRT54G v6 not working with new Motorola SB6141 on Comcast (IPv4 and IPv6)

My WRT54G v6 not working with a new Motorola SB6141 Cable Modem on Comcast (IPv4 and IPv6).
Yesterday, I had my old DOCSIS 1.1 cable modem and the WRT54G had been working just fine for the past 8 years.
Last night, I swap in the DOCSIS 3.0 SB6141 cable modem, and now the WRT54G keeps losing the internet connection. When I go into the status page for the WRT54G, I often do not see DNS servers and sometimes do not even see an IP address.
If I connect a PC directly to the SB6141 cable modem, I have no problems whatsoever. But whenever I connect through the WRT54G and power cycle both devices, then I have internet connectivity for about an hour before it drops out. I have noticed my gateway IP address and DNS servers change at that time as well. I can also force the Linksys to lose connectivity by doing a DHCP release/renew on the Linksys status page.
Is this behavior because of the dual stack (IPv4 and IPv6) coming through the cable modem from Comcast now? Is there any way I can keep using my WRT54G v6 now that I have the SB6141 cable modem?

You just have to install it correctly.
http://kb.linksys.com/Linksys/ukp.aspx?pid=80&login=1&app=search&vw=1&articleid=3686

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