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Most likely that noise is generated by the servo motor when the velocity command to the create is very small. When servo motors are driven at the low end of the controllable range typically they will make noises like you hear in the create. As you drive the create faster the noise should be less pronounced.

Also you can drive the motors at particular frequencies to produce different noises in general. For example you can make servo motors sing.... http://www.youtube.com/watch?v=-i9RyROVWHI