I have not methodically transitioned my girls to taking on cleaning responsibilities. We have just kind of morphed into it.
The older 3 are responsible for the dishwasher, their bathroom, and all their own laundry including sheets and towels.
My littlest puts her laundry away, puts her dishes in the dishwasher, and (mostly) cleans up her toys.
And also the older 3 do whatever I delegate to them in the common areas. We are all making the messes together, we should all be cleaning it up (not just the mama!).
Click HERE to read a great post on transitioning your children into taking on cleaning responsibilities in your home!