In antiquity, the term desultor (Latin; "one who leaps down") or in Greek apobates (ἀποβάτης) and metabates (μεταβάτης) (both meaning "one who gets/leaps off") has been applied to individuals skilled at leaping from one horse or chariot to another.
[1] As early as the Homeric times, we find the description of a man, who keeps four horses abreast at full gallop, and leaps from one to another, amidst a crowd of admiring spectators.
The Roman desultor generally rode only two horses at the same time, sitting on them without a saddle, and vaulting upon either of them at his pleasure.
The taste for these exercises was carried to so great an extent, that young men of the highest rank not only drove bigae and quadrigae in the circus, but exhibited these feats of horsemanship.
[5] Among other nations, this level of equestrian dexterity was applied to the purposes of war.