Where I'm from there has been a minimum income guarantee since 1965. In fact, the constitution says the government should ensure every resident has sufficient income to live. A single-person household with someone who is permanently unemployed receives about $1500 per month (you receive additional money per child). This is the lowest income a legal resident is allowed to have. Every rich European country has a similar system, though most opt to cover rent for the poorest, and give a smaller amount for the remaining expenses.

It turns out that willingness to work isn't an issue, because most people don't actually like to do nothing. The employment rate is far higher than in the US.