Uchikomi-geiko is a practice fight in which the motodachi shows openings with going back to chudan-no-kamae after each strike. The kakarite attacks the open target and returns to proper distance in chudan-no-kamae before each new strike. It looks like 0:20-0:55 in the video below.
Uchikomi-geiko (0:20-0:55) https://www.youtube.com/watch?v=0u9hRXTdklk&t=1s