Biped locomotion created by a controller based on ZMP known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include tipping-over state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, we propose walking stabilizer based on visual feedback to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this stabilizer helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area. In this report, we discuss proposed visual lifting approach in conjunction wish arms' swinging motion on a viewpoint that the arms' motion helps improve walking efficiency.