This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.