I've had this problem since 9.10. It only started affecting me badly
enough to want to do something yesterday, and now I find there is a bug
report for it. Here's my setup, which differs in a number of ways to
jpangamarca's - specifically, I'm using the open source radeon driver
and I'm not using compiz at all.

DistroRelease: Ubuntu 10.04 (also affected me in 9.10)
Package: gnome-panel 1:2.30.2-0ubuntu0.2_i386
ProcVersionSignature: Ubuntu 2.6.32-23.37-generic 2.6.32.15+drm33.5
Uname: Linux 2.6.32-24-generic i686
NonfreeKernelModules: 
Architecture: i386
Date: Mon Jul 27 16:34:04 2010
InstallationMedia: Ubuntu 10.04 LTS "Lucid Lynx" - Release i386 (20100429)
ProcEnviron:
 PATH=(custom, user)
 LANG=en_GB.utf8
 SHELL=/bin/bash
SourcePackage: gnome-panel

I have a mouse button remapping using xmodmap, as my mouse needs buttons 1 and 
3 remapped to 8 and 9 when it is used in presenter mode.
I'm using the Human theme with a small number of customisations.
The problem happens with Firefox, Nautilus and maybe one or two other apps 
open, but I have tried not using each of the other apps for a time, and it 
still happens in the absence of other apps. Firefox and nautilus are often open 
for long periods of time - like between kernel updates.

Other things I have noticed which may or may not be relevant:
Sometimes you can get out of the hang by switching to a virtual terminal then 
back to X.
Closing nautilus sometimes causes the problem to go away.
Often a click away from the panel causes the item on the panel which is above 
the mouse pointer to be activated - sometimes u clicking a different button 
un-freezes the panel when this happens.
The panel is set to autohide, and one of the symptoms is it gets stuck in 
either hidden or non-hidden mode.
Clicking on other applications buttons has no effect, although sometimes 
opening a panel menu and clicking elsewhere on the desktop brings it out of 
that mode.
I have seen similar behaviour when the machine is running very low on memory.
I do not get the behaviour on my other machine, which is rarely on for more 
than a few hours continuously, and which is almost identical other than having 
a more recent ATI graphics card, and uses fglrx.

As I see this problem pretty regularly, I can probably provide a
backtrace fairly soon if needed.

-- 
Gnome Panel hangs and renders touchpad and mouse unusable
https://bugs.launchpad.net/bugs/608833
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