The latest Firefox version that Selenium 2.41.0 officially supports is 28. Downgrade your browser. According to the other answers, downgrading to Firefox 31 is enough to make it work.
It is always a good idea to have the latest selenium package installed. The strategy, though, is always the same – make sure that you are using the version supported by your selenium package browser.
See also:
- Firefox version for selenium-firefox-driver 2.41.0
- Unable to obtain stable Firefox connection in 60 seconds (Windows 8 + FF 32.0)