Larry Solters wrote in a statement that Sheen will participate in court proceedings related to ex-wife Brooke Mueller's custody of their 4-year-old sons. Mueller and Sheen were married in 2008 and divorced in 2011.
"He knows Max and Bob are safe and in a stable, loving environment with Denise and the boys' sisters," Solters wrote. "Charlie will fully cooperate and fully participate in all proceedings."
Celebrity website RadarOnline.com reported Friday that the twins were removed from Mueller's custody by the Department of Children and Family Services.
Mueller has struggled with addiction for years, but it remains unclear what prompted officials to remove her sons from her care. The agency's investigations are confidential, and Mueller and Richards' representatives have declined to comment.
Sheen and Richards have two daughters from their marriage, which ended in 2006.