What is wrong with my brakes? Is it the ABS?

I have a 1997 Acura RL, Just last week, when gently braking, the pedal "releases" for a moment and I hear a motor of some kind engage. This only lasts a moment and the brake "takes hold" again. I bought the car on a very limited budget, and I don't have much to repair issues. The ABS light, TCS light and Check Engine lights have been on since I bought it a year ago. The pads and rotors are fine, as is the brake fluid level. What on earth is this?! If it's simply the ABS, can't I pull the fuse and just drive the car w/o the ABS system? Please auto gods, I need your help!