Dorsals:

Dorsal consonants are articulated with the mid body of the tongue. In contrast to the coronal, consonants articulated with the flexible front of the tongue. Radical consonants are articulated with the root of the tongue.
Palatal sounds are produced when the body of the tongue touches or comes close the hard palate. The hard palate may be contacted by the back of the tongue. English [j] is a palatal approximant.

Palatal velar sounds are made by placing the back of the tongue against or near the velum or soft palate. English has the velar stops, [k], [g], and [].