Chores

I need to know what the secret is of getting kids to do chores without complaining. Is there one? My kids know that they have to help with Saturday cleaning, and each day they have one chore that I let them pick, but I'm thinking we need more. More. More. More. I want one of those homes that runs like a well-oiled machine, with the kids accepting their chores and doing them each morning, so that the house looks pretty good when we start on work and school. Am I dreaming?