In early 2012 he was appointed president of the National Assembly and was then re-elected in January 2013.
Castro also announced Sunday that Esteban Lazo Hernandez, 68, would assume the role of president of the National Assembly.
He also served as president of the National Assembly and is a key figure in Mr Chavez's United Socialist Party of Venezuela (PSUV).
Vice-President Nicolas Maduro said there would be a thorough investigation into the riot, led by Venezuela's Prosecutor General and the President of the National Assembly.
If Mr Chavez does not take the oath of office, the Speaker of the National Assembly should act as caretaker president until new elections are held within 30 days, the opposition say.
According to the constitution, if a president is permanently incapacitated, the speaker of the National Assembly should take over and elections called within 30 days.
Senior leaders including Vice-President Nicolas Maduro, the head of the National Assembly Diosdado Cabello, and Oil Minister Rafael Ramirez have been travelling to and from Cuba in recent weeks.
The right-wing Union for a Popular Movement (UMP) - the party of former President Nicolas Sarkozy - is defending an absolute majority in the current National Assembly.
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Cabello, the national assembly president, is one of several top officials from Chavez's party who argue that the inauguration can be postponed.
The opposition boycotted Mr Maduro's swearing-in on Friday, claiming that - under the constitution - the speaker of the National Assembly, Diosdado Cabello, should be the one to take over as acting president.
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The charter designates the National Assembly interim head of state if a president-elect cannot be sworn in.
Venezuela's Constitution provides guidance on what should occur if a president cannot be inaugurated before the National Assembly, but supporters and critics of Chavez have different interpretations.
Dubcek was elected chairman of the Federal Assembly (the national parliament) on 28 December, and Vaclav Havel became interim president on 29 December 1989.
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