My Belta's brake peddle also pulsates on hard braking. That is because the ABS brake pump sends many, many pulses of braking force to the wheels in a second and on hard stops/emergency braking it transmits more pressure to the brake fluid, hence the pulsating/throbbing sensation in the brake peddle. This behavior is perfectly normal.
Your description of the problem sounds very strange, but I'd advise you to get the braking system checked out either by a 3S dealer (which might cost a lot) or go to a Honda pit shop. There might be a problem in/with one or more of the following:
1) worn, damaged or incorrectly installed brake pads
2) faulty bearings (like someone already mentioned)
3) the speed sensors which monitor each wheel's spin speed relative to the others and send the information to ABS module might have gone crazy
4) if the car skids to either side on hard braking, the brake fluid pipes/lines to individual wheels might be damaged/blocked, etc.
5) Fault(s) in the ABS pump
If the car is first-hand and is driven less than 10,000 kms and tires look okay, then the problem is definitely with one of the above-mentioned components. Good luck.