Here is the explanation from Chuck Westfall (Canon USA):
"The IS mechanism operates by correcting shake. When there is no shake, or when the level of shake is below the threshold of the system's detection capability, use of the IS feature may actually *add* unwanted blur to the photograph, therefore you should shut it off in this situation. Remember that the IS lens group is normally locked into place. When the IS function is active, the IS lens group is unlocked so it can be moved by the electromagnetic coil surrounding the elements. When there's not enough motion for the IS system to detect, the result can sometimes be a sort of electronic 'feedback loop,' somewhat analogous to the ringing noise of an audio feedback loop we're all familiar with. As a result, the IS lens group might move while the lens is on a tripod, unless the IS function is switched off and the IS lens group is locked into place."
In 2000 Canon released the next generation IS professional lenses. These lenses feature a "tripod-detection" mode which means that there is no problem using IS on a tripod. Even more than that - IS will correct vibrations caused by the mirror operations of the camera. So far the feature is available on the following lenses.
* EF 300 mm f/2.8 USM L IS
* EF 400 mm f/2.8 USM L IS
* EF 400 mm f/4 USM DO IS
* EF 500 mm f/4 USM L IS
* EF 600 mm f/4 USM L IS