Paying to leave a registrar

I was wondering if it was legal and complies with ICANN's rules for a registrar to make you pay to leave?  I just purchased a domain name from someone, who had it registered at domainregistrationbank.com.  I opened up an account there and she pushed the domain name to my account, but it just gave me error messages when I tried to accept it.  Their tech support basically said they had no idea why I get error messages and they won't fix it, so my only option is to pay them $20 to transfer the domain name to another registrar.  Can they do this?