Have you ever heard of a stirling engine? They are really cool. They use difference in temperature to do work. Imagine a chamber that is tube shaped and has a piston in it. You create a difference in temperatures from one end to the other, either by heating or cooling or both. You might stick one end in your fire and the other in cool water, for example. When the hot air expands, it moves the piston one way, then a displacer pushes the hot air to the cold end where it contracts so there is less resistance for the piston to reciprocate. A flywheel carries the momentum.
Unfortunately, the work it does, is not cleaning the house.
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