SOME WORDS FOR SLAVES:

Greek: doulos (most common), dmos (of the house), andrapodon (man-footed creature, often of war captives), oiketes (of the household), therapon (attendant), pais/paidion (boy), amphipolos (hand-maid), akolouthos (follower), hyperetes (assistant), threptos (reared foundling)

Note also: apeleutheros (freedman)

Latin: servus, famulus/famula (of the familia/household), mancipium, ancilla (maid-servant), domesticus, puer, verna (home-born slave), vilicus (overseer), vicarius (slave belonging to or substituting for another slave), alumnus (often used of reared foundling)

Note also: libertus/liberta, libertinus/libertina (freedman/freedwoman), ingenuus (freeborn)