We don't have to go so far back to Romans. All we have to do is understand "militia " the way the founders did. "Well regulated" was simply one that was "well equipped" and organized.It had nothing to do with the concept of a state organized standing army or reserves. It was independent of the state.
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"Who are the militia? Are they not ourselves? Is it feared, then, that we shall turn our arms each man gainst his own bosom. Congress have no power to disarm the militia. Their swords, and every other terrible implement of the soldier, are the birthright of an American... [T]he unlimited power of the sword is not in the hands of either the federal or state governments, but, where I trust in God it will ever remain, in the hands of the people."
Tenche Coxe, The Pennsylvania Gazette, Feb. 20, 1788.
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"A militia, when properly formed, are in fact the people themselves ... and include all men capable of bearing arms."
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"To preserve liberty it is essential that the whole body of the people always possess arms and be taught alike, especially when young, how to use them..."
Richard Henry Lee - Senator, First Congress
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"that standing army can never be formidable (threatening) to the liberties of the people, while there is a large body of citizens, little if at all inferior to them in the use of arms."
(Alexander Hamilton Federalist Paper #29)
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"I ask you sir, who are the militia? They consist now of the whole people."
George Mason
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“The right of the citizens to keep and bear arms has justly been considered as the palladium of the liberties of a republic... ”
Joseph Story (Supreme Court Justice)
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"A free people ought not only to be armed and disciplined but they should have sufficient arms and ammunition to maintain a status of independence from any who might attempt to abuse them, which would include their own government."
George Washington