Penth, that is a very odd coincidence. I have the Exact same Moterola 4100 SurfBoard, in fact, I got it 3 years ago when I moved into my house. I also have a Wireless G Router, model WRK54G (worst router ever). I have a feeling it is probably a dumb router, it is definitely not a good buy. The WRT54G is much better. Mine cannot be flashed with the firmware hacks, nor does it have a removable antenna, so I get a pretty weak signal. I have to release and renew my IP in my router settings, and sometimes reset the SurfBoard. It may be my ISP, but it is probably the router. I have RoadRunner, and it started happening abut the same time that they boosted our speeds from 3Mbps to 5Mbps. In my SurfBoard logs, I keep getting these errors:
B605.10 Map Reject - Downstream Traffic Flow Not Mapped to BPI+ SAID (EC=8)
B556.0 Received SA-Map Reject(4-B) error code 8
B601.0 SA Map State Machine Started
I asked Motorola and they told me this:
1) "If you keep getting frequent disconnects, then there is a problem with the signal coming from the ISP. You will need to contact them in order to get them to resolve your connection issue. If you have any further questions feel free to reply or call us 24/7 at 1-877-466-8646. Have a great day and thank you for choosing Motorola."
2) "There errors you see are nothing there to worry about. Its just the normal boot up process of the modem. What you see failing is the modem refusing a firmware upgrade from the TFTP server. It's nothing to worry about as it will not cause any connection issues. If you are having frequent disconnects then you will still need to contact your cable provider to run a check on your cable lines. If you have any further questions feel free to reply or call us 24/7 at 1-877-466-8646. Have a great day and thank you for choosing Motorola."
I hope that helps, I need help too.

Good luck.