I had the same problem and managed to solve by following steps:
- edit with admin rights /etc/default/grub: remove the "init part" from 
GRUB_CMDLINE_LINUX_DEFAULT line
- sudo update-grub
- reboot
- try sudo dpkg --configure -a again, libc6 should be installed without kernel 
panic

With this steps, e4rat is not enabled any more.

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https://bugs.launchpad.net/bugs/1202998

Title:
  Only when using kernel parameter init=/sbin/e4rat-preload kernel
  panics when updating libc6

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