This is untested, but it should do what you're looking for.

#!/usr/local/bin/perl -w

use Expect;
use strict;

my @hosts = ('192.168.0.2', '192.168.0.3', '192.168.0.4');
my $password = 'p4ssw0rd';

foreach (@hosts) {
  my $exp = Expect->spawn('ssh $_ cmd_to_run; echo done')
    or die "Could not connect to $_: $!";
  if ($exp->expect(undef, 'assword')) {
    $exp->send("$password\cM");
  }
  $exp->expect('done');
}
[download]

Hope it helps. If you have any questions or problems, let me know and I'd be glad to help.
scott.