How to involve staff in an effectieve improvement project

I received many comments and likes to my previous blog about " Prevention of errors should not prevent innovation and creativity". Someone ed out to me a movie of Tom Peters about this, http://youtu.be/0UyvJgOCS1w. He sums it up powerfully in "Fail, Forward, Fast". Fail, if you mess up anything, you learn nothing. The sooner you do things, the sooner you learn.
Key here is corporate culture. Mistakes are made everywhere, that's clear. However, are errors also allowed by management, even appreciated? Only when there is an environment where mistakes can be made, the staff will be encouraged to come up with ideas. The latter is crucial. After all, the staff is not only needed to come up with good ideas but also to execute them. Such an environment is enabling innovation and creativity.