Peter Whittingham scored from the penalty spot four minutes in after Ben Turner held back Michael Chopra.
BBC: Sport - Football - Coventry City 1-2 Cardiff City
Substitute Dirk Kuyt looked to have given Liverpool victory in extra time, but a late Ben Turner goal sent the match into a dramatic penalty shoot-out.
CNN: Arsenal fight back to win sensational north London derby
Ipswich might have had a penalty between the two Coventry goals after Ben Turner appeared to bring down Lee Martin but their appeals fell on deaf ears.
BBC: SPORT | Football | Championship | Coventry 2-1 Ipswich
Hull were not without their chances, and tackles from Shaun Briscoe denied Lee Radford and Sean Long on the line, while Fox and Ben Cockayne did brilliantly to keep Jordan Turner out on the stroke of the hooter.
BBC: Hull FC 4-21 Hull KR
Luke Burgess, Dean Mumm, Lachie Turner, Ryan Cross, Richard Brown, Peter Hynes and Ben Alexander have been included in a 30-man line-up.
BBC: Deans gives Wallabies a new look
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