Write your Congressperson and ask that the Minimum wage exception of the food industry be eliminated.

Unfortunately, the staff would not be happy as they can make BANK on tips; and, restaurants cannot afford to pay high hourly wages to retain quality staff. Work hard, get paid well is the motto.

Now, the wait staff are taxed assuming you have paid 15% in gratuity on your check, so if you pay 10% or nothing, they are essentially paying for serving you. In addition (as mentioned here) they also have to pay the busboy, bartender, host(ess) at the end of the night.

This is also why parties of 6, 8, etc are automatically applied gratuity. Not because it requires more work (does) or reduces the amount of tops they can work (does); but, because the tip often does not even reach 8%.

Back in the day, I had tables that on a $400 tab would leave $20. Where a couple having a nice dinner would leave $20 on a $80 tab. That's why the rookies get the groups or why you see auto tipping on groups.