No Penalty for causing the other team to get one?

[EricH]

There are no penalties assigned, period, in that situation, per <G61>. If you force your opponent into your zone or lane, despite their active opposition, they get no penalty. Now, if they were to be foolish enough to stay there after you backed off, then there probably would be a penalty, because it's now voluntary, but I don't think anybody would stick around there for very long unless their robot broke (in which case, the E-stop could be hit).