"In the next few days we will have to present a concrete proposal for the departure of that national disgrace that is the government," the opposition leader of congress Henry Ramos told a news conference.
He criticized a ruling yesterday by the Supreme Court which approved Maduro's request for special powers to tackle a deepening economic crisis -- his latest maneuver in a tense political standoff.
The court, which the opposition says is packed with Maduro's supporters, overrode opposition from lawmakers to place the country in a 60-day state of emergency.
Opposition lawmakers reacted with dismay.
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They say Maduro's economic policies are ruining the country.
Ramos and other leaders in the opposition MUD coalition had already promised to devise a way within six months to oust Maduro, possibly through a new constitution or a referendum.
"Nobody doubts now that that six-month timeframe is too long," Ramos said today.
"It is not we who impose the timing, it is the needs of the country."
Venezuela has the world's largest known oil reserves but has suffered as crude prices have fallen sharply. Citizens are suffering shortages of basics such as toilet paper and cooking oil.