I don't fully understand your question, because you said both:

> PasswordAuthentication no
>
and

> I have the root password of target servers
>

That said ...

If you read this web page

https://serverfault.com/questions/838113/handling-keyboard-interactive-inputs-with-ansible

and the various github pages that it refers to, you will find that Ansible 
does not support ChallengeResponseAuthentication, and has no plans to 
support it.
I will also note that logging into your server as root is generally a bad 
idea, and it's blocked by (almost) every default ssh configuration.

--EbH

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