Making monster move...

I'm stumped on this one. Here's the situation:
Currently I have a spider (Prop_Dynamc) parented to a sled (Prop_Physics) so it can move around the map.

I resorted to using a "sled" because it works fairly well on ramps and kinda good on stairs. But the phyics interaction with the environment would look a lot better if the collisions came from spider's dynamic animations rather than the crappy sled.
So how can I do this?

Tired, spend the whole day trying to come up with a solution. Hope my question isnt too vague
Oh yea the movement is being controlled through a sourcemod plugin just in case your wondering.

This is the physics model it uses now


This is the Physics model I would like to use


The model


The Animations

Well it doesn't really go in a set direction, it follows players around and moves towards enemies. They also go towards specifics points such as: sentries, teleporters, capture points, health packs and lockers.

The AI is no problem that's already been dealt with. Let me try to rephrase my question:
How can I have a prop_physics follow a prop_dynamics animations?

My end goal is to have the spider (Prop_Dynamc) parented to the same model (Prop_Physics) so it can collide with the map correctly. I need the Prop_Dynamic to play the animations and I need the Prop_Physics so I can apply physic forces to it.

Like If the Spider is walking and one foot is up in the air then the physics model will also have one foot in the air. Or if the spider is jumping with its legs up then the physics model also has its "legs" jumping as well.

Maybe bone merge?