I don't know if anyone is going to read this, since there were no replies to my question. But since I solved it, I wanted to post my solution for other people. Moreover, if requiring a password to get to the single user prompt logged in as root was intended to improve security, I just found a security hole. This hole might not apply to my computer because I setup /boot/grub/menu.lst to cause grub to require a password to edit the grub boot parameters. But since many people don't, this procedure is a security hole for them.
I used grub to perform a one-time edit of the boot line:
kernel /boot/vmlinuz-2.6.27-7-generic root=/dev/md0 ro single
and made it:
kernel /boot/vmlinuz-2.6.27-7-generic root=/dev/md0 rw init=/bin/bash
Booting then brought me to a command prompt as root, with the file system being read-write. I then used the passwd program to set root's password to a known value, and now I can select menu item that has an entry "Drop to root shell prompt", and enter root's password.
However, having a (presumably) crackable root password seems so un-Ubuntu. So I am wondering if anyone else has a more elegant solution.
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