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Look into the expect package. I've never used it, but it's a system that let's you handle things like telnet connections where input is required. I'm not familiar with IOS, but is it possible to just set it up to run those commands itself? If so, that's probably easier and doesn't rely on your workstation being up.
There is more than one type of program out there that can do this, I'm not sure how bash by itself can do this.
I really like C-kermit for doing this kind of scripting. I don't work with routers, but with racks of embedded computers and have automated upgrading their firmware in a C-kermit script. C-kermit can automatically FTP data to the systems, then telnet in and issue the commands to update the onboard flash. This is similar to what you are trying to do.
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