FOOTMAN (רַגְלִי, H8081, or אִ֥ישׁ רַגְלִ֖י meaning men on foot—Exod 12:37; Num 11:21; also means footsoldiers or infantry—Judg 20:2; 1 Sam 4:10; 15:4; 2 Sam 10:6; 1 Kings 20:29; etc.) The main use of this word outside of the Pentateuch is for military purposes. It is used to distinguish between the soldier who marches and fights on foot and the soldier who rides on horseback or in a chariot.

Its use in the Pentateuch seems to be broader than just military because of the tribal context. There it is used to contrast between adult men and children.

KJV also uses the word “footman” in a context that calls for the word “guard” (1 Sam 22:17) as well as in a context which calls for “courier” (Jer 12:5).