How could somersaulting worms evolve?

In Wayne Douglas Barlowe's classic book "Expedition" he has many strange creatures. One that intrigues the most is this one, the flipstick.

It has two feet on either side and uses them to flip through the air like a giant living, leaping slinkie.

I know that Darwin IV is supposed to have dense air and low gravity, but there are so many other modes of locomotion on this planet I don't see how this one could have any space to evolve. Can you even think of how it originated?

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How could somersaulting worms evolve?

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