Authorities removed Charlie Sheen's twin boys from his home after his estranged wife filed a restraining order, the beleaguered actor told reporters Wednesday.

Brooke Mueller alleges Sheen was abusive to her and filed for a temporary restraining order and a custody order.

Mueller's family members told CNN that Mueller went with an off-duty sheriff's deputy and a nanny to get the 2-year-old boys. They said Sheen's attorney spoke with Mueller's attorney before Sheen handed over the children.

But Sheen said he plans legal action to regain joint custody.

"You're in my heart. Bob, Max, it's your dada," he said to his sons on CNN affiliate KTLA. "I have never lied to you, and this is another example of that. I will see you soon. You're in my heart and I love you."