There are always Isometric exercises, that use the body's own weight as a countermeasure to push against, like pushups, squats and chinups (although that does require a chinup bar, but they're not expensive).
I'm not sure what household objects would work for that, but I suppose as long as you're keeping a tight form and not letting a lopsided weight pull you in odd directions, it's all the same. You just don't want to yank a muscle in the wrong direction and tear a rotator cuff or something.
A basic weight bench can be had for under $150. They last forever, it's a worthwhile investment, if you will actually use it for something besides a dust catcher. It's ridiculous how many weight benches and treadmills are sold, assembled and used once. Check the Saturday garage sales and you can probably get one for $20.