Maybe challenging tipping in court would be the best way to eliminate it. I'd be interested in reading the ruling no matter the outcome.
EDIT: Quick Google, Here's some research on the subject http://scholarship.sha.cornell.edu/cgi/viewcontent.cgi?artic...
As an aside, I actually went to a pretty expensive restaurant where the busboy did most of the work. The only thing the waiter did was take our order, ask if everything was ok, asked if we wanted another (paid) drink (the busboy refilled our water several times), and brought us the check. They busboy did everything that wasn't money oriented. I asked him if he got tips, he said he got 10%. 10% of the compensation for at least 50% of the work! I noticed all the busboys there had something in common - they were all black teenagers. The waitstaff also wore button down shirts and ties and the busboys wore polo shirts. I was extremely uncomfortable with the situation.