It is over braking that is causing it, if it does it both ways.

If it only ever does it 1 way its either generally a bleeding or siezed caliper issue.

A few simple ways to cure it... fit a bias valve(s) try different pads, or sort out the prblems if its related to the caliper.

My pedal only moves about 1 inch from top to bottom as I dont have a servo.