Children are very different in how their motivations work. I have two, one who is very externally motivated (i.e., what you describe above would work perfectly for him), and one who is more internally motivated.
For the child that is internally motivated, what works for me is finding the correct internal motivation, and finding the right way to fit it into his framework. My son for example is in a Montessori school, and so getting him to do chores (such as cleaning areas) works best when we fit it in the context of his school. They teach some of these skills at school, so we can give him "lessons" on the chore, and he then is in the mindset of working already.
We also focus on his internal motivating factors. He has several favorite shirts, for example, and a favorite plate, bowl, and cup. So when we need to fold laundry, it's quite easy to convince him: "Look, we have your favorite shirts in the laundry - let's fold them so they're ready for you to wear tomorrow!" When he needs to clean his room, again it's a matter of finding what motivates him - not a reward, but instead: "We're thinking of having a friend over, what do you think about cleaning your room so we can do that? After all, nobody wants a messy room when they have a friend over!"
These don't always work perfectly of course, in part because his motivations and desires simply don't align with ours sometimes; and he's only six, so, what can you do sometimes. But for the most part, we can get cooperation when we need it this way.
Our hope is that he ends up happier to do these chores when he's older because we're finding these internal motivations. His older brother is more externally motivated, and so it's both harder to find internal motivations with him, and, lazily, it's easier to get him to do things with simple external motivations. We have to fight ourselves sometimes to not solely use extrinsic motivations for the older child; it's just so easy! But he won't learn to want to do it himself, of course. For the intrinsically motivated child, it's actually easier, since saying "Hey, clean up your room so you can have some iPad time!" doesn't work - we find ourselves having to win his voluntary cooperation, which is what we'd prefer anyway.
This PsychCentral article, while not directly about motivations, goes into some details that I find useful, particularly a few of the different ways you can focus on the internal motivations - pride of place, for example, and establishing regular routines are both very helpful in this direction.
Another thing to consider, entirely separate from motivations, is how to remove barriers to cooperation. My older child (who is easily externally motivated) still has trouble cleaning a room, because it seems hard. So we help by removing the barriers that keep him from thinking he can do it. We show him how to do it; we show him how to break it up into smaller jobs; we are careful to give well defined, achievable goals. This article on Empowering Parents does a good job for example explaining some of this in detail.