Count me as firmly in the anti-tipping camp. The article fails to mention the fact that tipping actually creates an environment where
more prejudice (not less) can be exposed. If you aren't a stereotypical "good-looking" female server, you will statistically earn far fewer tips. The same goes for people working in the kitchen (as the article mentions).
If your servers (or anyone working in the restaurant) demand higher wages, pay them the fair wage and charge what it costs to operate at that level. The expectation of a tip feels similar to the hidden fees charged by wireless carriers so they can advertise a much lower rate.