my kids are only 16 mos and 3y3m.
tub time, both kids strip down and put their laundry in their basket in their room. even my 16mo old has started to do this now...i strip him down and pile his clothes up and he runs around the corner to his room and puts it in the basket and he comes back to the tub. (altough i'm finding sippy cups and shoes in there now too :) ).
towels - we each have our own colored towel. so if someone leaves a towel on the floor we now who did it. this was mostly for my husband. after a shower he'd leave the bathroom with a towel and go to our room to get dressed - and he'd leave a towel on the floor or on our bed.... then the next day he'd get a new towel... so we each have our own towel and i pull all the towels on wednesday and sundays.
dishes, my 3 year old, after dinner takes her plate, scrapes it into the trash and puts it in the sink. we give her one piece at a time and she brings it to me at the sink or put something back in the fridge. she clears the entire table.
i have that swivel sweeper, my kids love it, and the are vaccuming the floors all the time. if my daughter makes crumbs, or drops her container of goldfish etc... i make her help me clean it up.. i hold the dustpan while she sweeps, she uses the swivel sweeper etc.
when we walk in the door, she takes off her coat and she hangs it on the hooks in her room. during the day she might want to take her socks off (or her pants for what ever reason) she immediately puts them in the laundry hamper, or on her hooks.
laundry - i do all the laundry, but i put my husbands all folded and sorted in front of his closet - he has to put it away. again - he's try on a shirt, decide he didn't want to wear it and be lazy and just throw it in the laundry and not just fold it to put it back... so to show him how much laundry he creates, i would do the laundry and pile it in front of his closet to put away. mind you there usually is always a basket of clean clothes in front of his closet... but that's the way he chooses to live.
my daughter who is 3... i give her each of the things that are in drawers - socks, underwear, undershirts, PJ's.... i give her one set of items at a time and she puts it away.
i also have front loading washer/dryer, and she can reach it so she helps put the laundry in, pull it out, put it int he dryer, pull it out. i have her stand in teh laundry basket and pull all the clothes down around her.. she thinks it's great to be buried in the laundry.
every night after tub, we clean up all the toys etc, before she can watch an episode of dora before she goes to bed. we have the ikea trofast storage system and i put picture/word labels on all the buckets - so she knows where everything goes. once she grows out of the toy stage, i think i'll even keep it for her clothes too.. real easy to pull out a bucket and pick something out.
the older your kids, you will get more resistance to enact these chores... but stick with it. start off with the items that effect them - their food, their laundry etc... and they'll notice the impact it has, and hopefully it'll be easier for them to chip in other areas.
my daughter is still at the age where she likes to help and she thinks it's great... and my son is just likes to follow her around...so what ever she does he wants to do too.