申し訳ありませんが、詳細な回答をする時間がありませんが、このアドバイスを使用してparamikoにsudoコマンドを実装できました
import paramiko
l_password = "yourpassword"
l_host = "yourhost"
l_user = "yourusername"
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(l_host, username=l_user, password=l_password)
transport = ssh.get_transport()
session = transport.open_session()
session.set_combine_stderr(True)
session.get_pty()
#for testing purposes we want to force sudo to always to ask for password. because of that we use "-k" key
session.exec_command("sudo -k dmesg")
stdin = session.makefile('wb', -1)
stdout = session.makefile('rb', -1)
#you have to check if you really need to send password here
stdin.write(l_password +'\n')
stdin.flush()
for line in stdout.read().splitlines():
print 'host: %s: %s' % (l_host, line)