This will do it:
Fiddle
$(document).ready(function(){
    $('#foo_form input:checkbox').change(function(){
       $('#bar_' + this.id.replace('foo_', '')).prop('checked', this.checked); 
    });
});
This seems like a very strange thing to have to do. Do you just need to get a copy of the current values from the #bar_form form when a box is checked? If so, I would look into using the data $('#foo_form').serializeArray() gives you after a change event on it.
$('#foo_form').on('change', function () {
  var $form = $(this);
  console.table($form.serializeArray());
});
  
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