The Romans and Infantry

When the romans defeated an opposing army, they would sometimes make the defeated troops pass underneath a home made yoke. This ritual symbolized man victory and roman domination over the defeated troops. The word infantry can also be traced back to the romans. And speaking of infantry, have you ever wondered if there was a connection between the words infant and infantry? Well, unless you visualize an army of babies, there doesn't seem to be much of a connection there. But as you might imagine, there is a connection.