We have created a chart for the children, with different activities that they do, with the days they are supposed to do each chore in white, and the others in grey. Then they put a check when they do the chore. This allows for flexibility, sometimes they do laundry or empty the dishwasher on a day they were not assigned, but they can still have credit for it.
Also, we like to make sure the chores include good things that we want them to learn about, like hanging the laundry out to dry, watering the garden, weeding the garden or taking out the recycling. We include even the youngest in these activities too. The blog post attach includes a video of teaching our toddler to recycle!