Do Sunnis believe in the infallibility of Rasoolallah?

I have been on another site looking at the major differences between Sunni Muslims and Shia followers. During the course of our discussions the subject of Infallibility came up. My question is this: Do we as Sunnis believe in the infallibility of Rasoolallah (PBUH)? I know that the Shia hold certain leaders of their movement as infallible but for some reason this doesn't make sense since Muhammad (PBUH) was the seal of the prophets. I hope someone can clear this up for me or rather reinforce what I believe about the Prophet (PBUH).