We don't care about the likelihood of producing some random collision; we care about the likelihood of producing some specific collision (which is not vulnerable to the birthday attack). http://en.wikipedia.org/wiki/Preimage_attack
The reason SHA-1 is considered insufficient is that it is cryptographically broken https://marc-stevens.nl/research/papers/PhD%20Thesis%20Marc%...
I.e. the chance of finding a collision is substantially higher than would be expected from an ideal PRF.
As far as I know, there are no serious cryptanalytical attacks on RIPEMD-160, and 160 bits is more than sufficient for cryptographically unique identifiers.