Doulos is the Greek word for slave. In some translations, some more frequently than others, the word servant is used. The word slave can have obvious negative connotations. History is filled with examples of slaves being treated badly. There is a difference between a slave and a servant. A servant can come and go as they wish, whereas a slave is the actual property of another person.
At dictionary.com, the word slave is defined as a person who is the property of and wholly subject to another; a bond servant. A servant is defined as a person employed by another, especially to perform domestic duties. http://www.dictionary.com
Doulos is found more that 100 times in the New Testament. Many times it refers to an actual slave(or servant).
Luke 7:2 NIV
There a centurion’s servant, whom his master valued highly, was sick and about to die.
In the NASB:
And a centurion’s slave, who was highly regarded by him, was sick and about to die.
1 Corinthians 7:21 NIV
Were you a slave when you were called? Don’t let it trouble you–although if you can gain your freedom, do so.
Paul calls himself a doulos in Romans 1:1 and Titus 1:1.
Paul, a servant of Christ Jesus, called to be an apostle and set apart for the gospel of God– (Romans 1:1 NIV)
Paul, a servant of God and an apostle of Jesus Christ to further the faith of God’s elect and their knowledge of the truth that leads to godliness– (Titus 1:1 NIV)
And then there are other instances where the scripture speaks more to us. Sometimes this is through the words of Jesus or one of Paul’s letters.
Mark 10:44 NIV
and whoever wants to be first must be slave of all.
Romans 6:16-17 NIV
Don’t you know that when you offer yourselves to someone as obedient slaves, you are slaves of the one you obey–whether you are slaves to sin, which leads to death, or to obedience, which leads to righteousness? But thanks be to God that, though you used to be slaves to sin, you have come to obey from your heart the pattern of teaching that has now claimed your allegiance.
Revelation 22:3 NIV
No longer will there be any curse. The throne of God and of the Lamb will be in the city, and his servants will serve him.
Other verses for further study:
Matthew 10:24-25, 18:26-28, 20:27
Luke 12:43-47
John 8:34-35, 15:15
Acts 16:17
Galatians 4:7
The GK (Goodrick-Kohlenberger) number is 1528.
The Strong’s Concordance number for Doulos is 1401.