I have had this happen and I think its caused by the spool binding just long enough for the gear to chew into the filament. I plan to work on my spool holder at some point, I replaced the wood part the spool sits on with a 3d printed part shortly after getting the printer running, that helped but it still binds up from time to time and jumps. I have noticed some of my spools are just a little bit wider then others this causes some spools to stick more often and require more force to start moving again.

Try to keep your spool angled so that it is center aligned with your extruder when the extruder is centered on the x axis.