Originally Posted by rm -rf

Yes,the linked video clip sounds like a derailleur adjustment is needed. (as another comment mentioned, check for a loose lockring first -- can you wiggle a cog from side to side at all? sometimes it's due to a missing spacer behind the cassette on certain hubs.)

If the chain is too far from the center of a rear cog, it briefly catches on the next larger cog (or next smallest in the other direction.)
I use a dollar bill as a test: can I slide it between the chain and the next cog without the paper binding? Check both sides of the chain, larger and smaller cog. No binding? That's a reasonably good adjustment for the rear derailleur.