I use a reward system. With your homework example, if I have to write an essay, I’ll sit down and type out my outline. Then, go do something I want to do. Then go back to the essay, and write a couple paragraphs, then take another break and do something I like (and continue like this until you’re done).
With this system, you can’t procrastinate.
With things like nasty chores, I do them when I’m upset. For some reason, I can take my frustration and anger out while doing cleaning.
Another idea, is to distract yourself. If you have to fold laundry or do dishes, try talking on the phone with a friend, or putting on the tv or music.