Eric Charbonneau / WireImage.com 1 / 5
Eric Charbonneau / WireImage.com 1 / 5

Charlie Sheen is heading to court on Tuesday in a bid to win back custody of his twin sons, who were taken from him last week by police after his estranged wife, Brooke Mueller, won a restraining order against him, saying he had threatened her life.

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RadarOnline.com cameras captured the emotional moment when Sheen handed over the kids.

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Sheen will be in court in Los Angeles on Tuesday unless he can reach a deal with Mueller before midnight on Monday.

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The couple have been in settlement talks since late last week, with Sheen at one point announcing a deal had been struck, but that fell apart on Friday because of the actor's breach of a confidentiality agreement during a media blitz.

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