Require servers to be paid minimum wage.

In the United States, waitstaff are paid less than minimum wage, but taxed as if they were paid minimum wage. Even if they do not make this wage up with tips, they still have to pay taxes as if they did. In empty restaurants the cashiers, cooks and other staff will still make the same amount of money; however, the waitstaff will end up owing money.
I propose that the difference in not having to tip be made up by increasing food costs; therefor tips will be back to being what they were originally intended for, which is EXCELLENT service.
This system works in many other countries, including the United Kingdoms.