Long press on one of the 5 shortcuts at the bottom of the screen. Select "swipe gesture action." Choose whatever you want it to do. Go back to the home screen and swipe up starting at the icon you just set the swipe gesture for.
They're not really a "Gesture" as you might think of them. It's not like you gotta draw a shape to launch a certain app. You set an Icon to say, launch the Default browser on a tap, then set it to launch Dolphin on a swipe. Just swipe instead of tap (up works best obviously, straight left to right will scroll to the other sets of shortcuts).
Basically it's having 2 actions assigned to one icon and making it do either takes the same amount of time and effort.
When I used all the dock icons (switched back to just the 5 slots), I had the Quick Settings icon that I could CLICK to get to the quick settings. However, I used the swipe gesture on the same icon in order to pull down the notification window (since I was hiding the notification bar). A good way to have two actions for two processes in one space. Ah, the beauty of Android
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