I searched the entire series using the words "Champion" and "Duel" and found four instances where a challenge was issued and a champion is mentioned.
"I am concerned," continued Cernus, "to be fair in all matters and thus propose that we wager for your freedom."
I looked up in surprise.
"Bring the board and pieces," said Cernus. Philemon left the room. Cernus looked down at me and grinned. "As I recall, you said that you did not play."
I nodded.
"On the other hand," said Cernus, "I of course do not believe you."
"I play," I admitted.
Cernus chuckled. "Would you like to play for your freedom?"
"Of course," I said.
"I am quite skillful, you know," said Cernus.
I said nothing. I had gathered in the months in the house, from what I had seen and heard, that Cernus was indeed a fine player. He would not be easy to beat.
"But," said Cernus, smiling, "since you are scarcely likely to be as skilled as I, I feel that it is only just that you be represented by a champion, who can play for you and give you some opportunity for victory."
Assassin of Gor Book 5 Page 318
The duel is a device by which many disputes, legal and personal, are settled in Torvaldsland. There are two general sorts, the formal duel and the free duel.
Marauders of Gor Book 9 Page 145
One case interested us in particular. A young man, not more than sixteen, was preparing to defend himself against a large burly fellow, bearded and richly helmeted.
Marauders of Gor Book 9 Page 147
I stepped on the leather of the cloak. "I'm the champion," said I, "of Hrolf of Inlet of Green Cliffs." I unsheathed the sword I wore at my belt.
Marauders of Gor Book 9 Page 148
"I am unarmed," I said. "Is it your intention to kill me in cold blood?"
"Yes," said the fellow.
"Why?" I asked.
"It will give me pleasure," he said. I saw the blade draw back.
"Hold!" called a voice.
The fellow stepped back, and looked past me. I turned about. There, about twenty feet away, in a dirty woolen himation, stood a tall, unshaven man. Though he seemed disreputable he stood at that moment very straight.
"Do you, Fellow," said he, addressing me, "desire a champion?"
The man was armed. Over his left shoulder there hung a leather sheath. He had not deigned, however, to draw the blade.
"Who are you?" asked the fellow who had been threatening me.
"Do you desire a champion?" asked the man of me.
"Yes," I said.
Rogue of Gor Book 15 Pages 75 - 76
"Challenge! Challenge!" cried Seremides.
"I do not accept your challenge," I said.
. . .
"Perhaps," said Tarl Cabot, quietly, "you would accept a champion?"
Mariners of Gor Book 30 Page 107