Mine does the same thing. It isn't the ABS. If you come to a stop at a light and then let off, then reapply the brakes you can duplicate the knocking/rattling over and over again. This only happens on mine after it has been driven for some time. Next time I have it at the dealer I'm going to have it checked out.
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Traded 4-1-06: 2006 Black Hummer H3 Adventure Series - Vortec 3.5L Inline 5
Offroad Suspension Package, 33" Tires, Electronic Fully Locking Differential, 4.03:1 2-speed Transfer Case, Ebony Cloth Trim, Automatic Transmission, Sunroof, Roof Marker Lamps, Fog Lamps, XM Satellite Radio, CD/MP3 Player, Trailering Package, Black Tube Nerf Bars
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