The normal term for judges, in the military sense of the leaders, captains, who judged and led Israel in the book of Judges is Hebrew shaphatim, as in this example:
“And Moses said to the judges of Israel, “Each of you kill those of his men who have yoked themselves to Baal of Peor.” (Numbers 25:5 ESV)
These other judges, Hebrew pelilim, are only mentioned in Exodus 21:22, Deuteronomy 32:31, Job 31:11; 31:28. As in the first example:
The basic meaning of pelilim comes from the Piel-stem verb of the same P-L-L semitic root, which means to intercede or arbitrate. An example of the Piel-stem verb being used is found in Eli’s rebuke to his sons:
If someone sins against a man, God will mediate for him, but if someone sins against the Lord, who can intercede for him?” But they would not listen to the voice of their father, for it was the will of the Lord to put them to death. (1 Samuel 2:25)
And so on.