These are "Real Type" Musha Gundam figures, as opposed to, I think, the SD ones which I believe are the original Musha Gundam figures.
These figures are gaming arcade prizes distributed by Banpresto, and are about the size of a MSiA figure.

(sorry about Zaku's incomplete weapon)
^The blue x white one is Kenshin, red x black one is Shingen.
Kenshin is accompanied by his steed;
Kenshin Gundam is a homage to a Japanese warlord in the 16th century;
Uesugi Kenshin - Wikipedia, the free encyclopedia
And Shingen;
Takeda Shingen - Wikipedia, the free encyclopedia
They ruled neighbouring regions and were constantly at war.
I've enjoyed looking at those Musha Gundam figures in the past, but never been interested enough to actually buy them. A Robot dressed up as Japanese warriors and riding a horse?
But these guys I had to have, as I am originally from the town Kenshin was based. All school kids in my hometown go to his castle (of which sadly only stone walls remain) on excursions.
Although the steed balances quite well as seen in the picture above, it was a bit too hard to re-create one of the most iconic scenes in Japanese Sengoku history.
Thank you for looking and reading
Some more pics here