After studying management in a class for the degree, I could identify the main differences between management and leadership: a manager plan, organize, and coordinate, but the leader inspires and motivate. Personally, I always consider that the best option is to observe the people that we want to follow to learn and later lead by example but there are other ways.
From my personal point of view, a leader in innovation or for a team needs to have the 5 senses active (sight, hearing, touch, smell, and taste). These are characteristic basics to learn in the day to day and be able to grow. You might hear that leaders are not born and it is possible to build those skills. The virtue to inspire and motivate others come from trust and some main values like:
Listen to
Take actions
Respect
Engagement
Communication
Look at the balance between idealistic and realistic
and probably the most difficult but the most important, the confidence in others.
After years, listen, reading, and studying, I got to the point of a book called "On Becoming a Leader" by Warren Bennis. I could mention others but the author composed the following list of the differences:
The manager administers; the leader innovates.
The manager is a copy; the leader is an original.
The manager maintains; the leader develops.
The manager focuses on systems and structure; the leader focuses on people.
The manager relies on control: the leader inspires trust.
The manager has a short-range view; the leader has a long-range perspective.
The manager asks how and when; the leader asks what and why.
The manager has his or her eye always on the bottom line; the leader's eye is on the horizon.
The manager imitates; the leader originates.
The manager accepts the status quo; the leader challenges it.
The manager is the classic good soldier; the leader is his or her own person.
The manager does things right; the leader does the right thing.
Focus on your ideas, and your values, and you will make a difference and become a leader.