Umamawari personnel who were not allowed to ride horses were equivalent to escorts (called "kojunin") of the Tokugawa shogunate - they were middle-ranking retainers that were allowed to have an audience with their lords but not allowed to ride horses.
馬上資格がない馬廻は、江戸幕府の小十人とほぼ同義であって、藩主への謁見資格があるが、馬乗りにはなれない中堅家臣である。