My childrens' chores are relatively simple - they alternate doing dishes and then they are required to pick up after themselves in the rest of the house. If dusting or vacuuming are done, it's usually for some form of reward like I will say, "Wow, I was thinking we'd all go get out of the house for a bit, but we can't do anything until the livingroom's dusted and vacuumed."
You'd be surprised how fast that place gets cleaned up

Then, for a reward, we will go somewhere like out to the movies or go take a walk around the museum, etc.
I have to be crafty now that mine are older (17 and 13).