http://www.qrstuff.com/blog/2011/12/14/qr-code-error-correction
Similarly a key stored in Wallet Import Format has a checksum that ensures you can't import a mistyped key. This won't save you if the key is misprinted or damaged, though. It just ensures that any key you import is a valid one.
So as long as you print the QR code of the private key you should be ok.
Another thing you can do is spread out your coins in small amounts among multiple private keys. Say BTC 0.05 per key. That way any damage to one or two keys will limit your losses to a fraction of a bitcoin.
So wait, you are saying create 20 QR codes for each bitcoin you own??!